Quaternion Parameters in the Simulation of a Spinning Rigid Body
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The use of quaternions in describing the orientation of a rigid body allows all possible attitudes to be sim ulated. The problem of gimbal lock encountered when using the more commonly understood Euler angles is avoided. The analog implementation of the quaternion description is given together with the transformations between quaternion parameters and Euler angles in order that the latter may be available for display.
[1] A. C. Robinson,et al. ON THE USE OF QUATERNIONS IN SIMULATION OF RIGID-BODY MOTION , 1958 .