{"paper":{"title":"Quaternions in Hamiltonian dynamics of a rigid body -- Part I","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.DS","math.MP"],"primary_cat":"math-ph","authors_text":"Sergiy I. Zub, Stanislav S. Zub","submitted_at":"2015-08-12T13:46:36Z","abstract_excerpt":"This paper showed that Poisson brackets in quaternion variables can be obtained directly from canonical Poisson brackets on cotangent bundle of $SE(3)$ (or $SO(3)$) endowed by canonical symplectic geometry. Quaternion parameters in our case are just dynamic variables in canonical Hamiltonian mechanics of a rigid body on $T^*SE(3)$ The obtained results based on quaternions representation as explicit functions of rotation matrix elements of $SO(3)$ group. The relation of obtained Poisson structure to the canonical Poisson and symplectic structures on $T^*S^3$ were investigated. To derive the mot"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1508.02916","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}