Rigid body dynamics using Clifford algebra

Jon Selig; E Bayro-Corrochano

doi:10.1007/s00006-008-0144-1

Rigid body dynamics using Clifford algebra

Jon Selig
, E Bayro-Corrochano

School of Engineering and Design

Research output: Contribution to journal › Article › peer-review

19 Citations (Scopus)

Abstract

In this paper the dynamics of rigid bodies is recast into a Clifford algebra formalism. Specifically, the algebra C(0, 6, 2), is used and it is shown how velocities, momenta and inertias can be represented by elements of this algebra. The equations of motion for a rigid body are simply derived by differentiating the momentum of the body. © 2008 Birkḧauser Verlag Basel/Switzerland. The final publication is available at Springer via http://dx.doi.org/10.1007/s00006-008-0144-1

Original language	English
Pages (from-to)	141 - 154
Journal	Advances in Applied Clifford Algebras
DOIs	https://doi.org/10.1007/s00006-008-0144-1
Publication status	Published - 1 Jan 2010

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10.1007/s00006-008-0144-1

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AB - In this paper the dynamics of rigid bodies is recast into a Clifford algebra formalism. Specifically, the algebra C(0, 6, 2), is used and it is shown how velocities, momenta and inertias can be represented by elements of this algebra. The equations of motion for a rigid body are simply derived by differentiating the momentum of the body. © 2008 Birkḧauser Verlag Basel/Switzerland. The final publication is available at Springer via http://dx.doi.org/10.1007/s00006-008-0144-1

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Rigid body dynamics using Clifford algebra

Abstract

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