惯量张量引入的四元数方法

Quaternion Method of Inertia Tensor

本文通过无限小旋转变换的四元数 ,引入角速度矢量 ,再把四元数乘法换成矢量叉乘 ,最后由刚体动量矩表达式给出惯量张量 .

In the paper, by means of infinitesimal rotating transformation introduing angular velocity vector, and quatemions multiplication verted into vector product, finally formulation of inertia tensor is given by angular momentum of rigid body.