inertialspaceasapointfixedonbodyC:
pBC pCB
C
rB rC
Invectornotation,thisis or 0.FortheUdwadia
Kalabaformoftheconstraint,weneedtotaketwoderivativesofthisexpression.Thefirstderivative(in
theNframe)is:
SincepBCandpCBarefixedintheframesBandC,respectively,
Thesecondderivative(intheNframe)is:
Nowweneedtogetthingsintheform .TheQuIRKstatevectorconsistsofthecenterofmass
positionforeachbodyandthequaternionrotationfromthebodytoinertialframe.
Exploitingtherelations and ,
0
NowwecasteveryvectorontotheNbasisvectors:
Asuperscriptrepresentstheskewsymmetriccrossproductmatrixformofavector,and isthe
directioncosinematrixthattransformsavectorfromtheBbasistotheNbasiscoordinates.
Nowweinserttheidentities and alongwiththeirderivatives:
Finally,werearrangetermssothatthoseinvolvingthesecondderivativesofstatesareisolatedonone
sideoftheexpression:
Nowwehavethe314and31matrices: