A non-redundant quaternion form of a time stepping scheme for rotational kinematics described by ordinary differential equations

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@article{367ef6f58eef4fee9b821a8656950380,

title = "A non-redundant quaternion form of a time stepping scheme for rotational kinematics described by ordinary differential equations",

author = "Zdravko Terze and Andreas M{\"u}ller and Dario Zlatar",

year = "2014",

language = "English",

journal = "Multibody System Dynamics",

issn = "1384-5640",

publisher = "Springer Verlag",

}