Time integration of rigid bodies modelled with three rotation parameters

@article{Holzinger2021TimeIO,
  title={Time integration of rigid bodies modelled with three rotation parameters},
  author={Stefan Holzinger and Johannes Gerstmayr},
  journal={Multibody System Dynamics},
  year={2021},
  pages={1-34}
}
Three rotation parameters are commonly used in multibody dynamics or in spacecraft attitude determination to represent large spatial rotations. It is well known, however, that the direct time integration of kinematic equations with three rotation parameters is not possible in singular points. In standard formulations based on three rotation parameters, singular points are avoided, for example, by applying reparametrization strategies during the time integration of the kinematic equations. As an… 
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