The dynamics of two coupled rigid bodies. (English) Zbl 0679.70011
Dynamical systems approaches to nonlinear problems in systems and circuits, Proc. Conf. Qual. Methods Anal. Nonlinear Dyn., Henniker/UK 1986, 373-378 (1988).
Summary: [For the entire collection see Zbl 0661.00017.]
We derive a Poisson bracket on the phase space so (3)*\(\times so(3)*\times S0(3)\) such that the dynamics of two three-dimensional rigid bodies coupled by a ball and socket joint can be written as a Hamiltonian system.
We derive a Poisson bracket on the phase space so (3)*\(\times so(3)*\times S0(3)\) such that the dynamics of two three-dimensional rigid bodies coupled by a ball and socket joint can be written as a Hamiltonian system.
MSC:
| 70G10 | Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics |
| 70H03 | Lagrange’s equations |
| 70E15 | Free motion of a rigid body |
| 37J99 | Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems |
| 53C15 | General geometric structures on manifolds (almost complex, almost product structures, etc.) |
