Integrating finite rotations

@inproceedings{Bottasso1998IntegratingFR,
  title={Integrating finite rotations},
  author={Carlo L. Bottasso and Marco Borri},
  year={1998}
}
Abstract We study the integration of problems of evolution in the rotation group. Instead of attacking the problem in the nonlinear differential manifold SO(3) (pure rotational dynamics), as is usually done, we derive equations for the complete problem of motion (translational and rotational dynamics) on an extended manifold. We develop a generalization of Runge-Kutta methods that, by design, ensures that the solution will remain on the manifold for any choice of the tableau. This is obtained… CONTINUE READING

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