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S. Holzinger, J. Schöberl, J. Gerstmayr:
"The equations of motion for a rigid body using non-redundant unified local velocity coordinates";
Multibody System Dynamics, 48 (2020), 283 - 309.

A novel formulation for the description of spatial rigid body motion using six non-redundant, homogeneous local velocity coordinates is presented. In contrast to common practice, the formulation proposed here does not distinguish between a translational and rotational motion in the sense that only translational velocity coordinates are used to describe the spatial motion of a rigid body. We obtain these new velocity coordinates by using the body-fixed translational velocity vectors of six properly selected points on the rigid body. These vectors are projected into six local directions and thus give six scalar velocities. Importantly, the equations of motion are derived without the aid of the rotation matrix or the angular velocity vector. The position coordinates and orientation of the body are obtained using the exponential map on the special Euclidean group SE(3). Furthermore, we introduce the appropriate inverse tangent operator on SE(3) in order to be able to solve the incremental motion vector differential equation. In addition, we present a modified version of a recently introduced a fourth-order Runge-Kutta Lie-group time integration scheme such that it can be used directly in our formulation. To demonstrate the applicability of our approach, we simulate the unstable rotation of a rigid body.

http://dx.doi.org/10.1007/s11044-019-09700-5