A Closed-form Analytical Solution to Torque Free Precession:
Euler-Poinsot Problem
Abstract
This work aims to disclose a closed-form analytical solution to attitude
motion for a rigid body subject to zero body-fixed torques, i.e.,
Euler-Poinsot problem. Revisiting Routh's study, the presence of
multiple solutions are identified. To verify the proposed solution,
numerical simulations and real-life experiment results are presented. A
Code Ocean repository is also provided so that readers could test the
algorithm individually.