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A Computational Approach for Variational Integration of Attitude Dynamics on SO(3) (2201.00713v1)
Published 3 Jan 2022 in math.NA, cs.NA, and math.DG
Abstract: In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson algorithm that can be used to solve implicit equations on the SO(3) manifold will be developed. These techniques will be used to simulate the rotational dynamics of a rigid body evolving on the Lie Group SO(3).