Gimbal torque (not a vector)
Moments on frames (a vector)
Moments
Result of taking time derivative of axis and angle, although setting this to identity doesn't seem to cause problems...
Constant
with
Monotonically increasing in an interval around the origin, \(f(0) = 0\). E.g. \(\sin \frac{\cdot}{2}\) for quaternions.
Angle
Axis
Taking the time-derivative of the potential energy yields an expression for moments:
3x3 stiffness
Gimbal stiffness model
Axis-angle stiffness model with \(\Omega\)
Axis-angle stiffness model with \(\Omega = I\)
Gimbal stiffness model
Axis-angle stiffness model with \(\Omega\)
Axis-angle stiffness model with \(\Omega = I\)