Please use this identifier to cite or link to this item: doi:10.22028/D291-30553
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Title: Redundant configuration coordinates and nonholonomic velocity coordinates in analytical mechanics
Author(s): Konz, Matthias
Rudolph, Joachim
Language: English
Title: IFAC-PapersOnLine
Volume: 51
Issue: 2
Startpage: 409
Endpage: 414
Publisher/Platform: Elsevier
Year of Publication: 2018
Publikation type: Journal Article
Abstract: Several established concepts of analytical mechanics are reviewed and extended to include redundant configuration coordinates and nonholonomic velocity coordinates. The main motivation for redundant coordinates is that the resulting formulations can be global, whereas minimal coordinates might necessarily be local depending on the topology of the configuration space e.g. for SO(3). The resulting formulations for Lagrange’s equations, the Gibbs-Appell equations and the coefficients of the Levi-Civita connection are derived. These are then applied to the example of the free rigid body to derive the well-known Newton-Euler equations.
DOI of the first publication: 10.1016/j.ifacol.2018.03.070
URL of the first publication:
Link to this record: hdl:20.500.11880/28917
ISSN: 2405-8963
Date of registration: 26-Mar-2020
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Joachim Rudolph
Collections:UniBib – Die Universitätsbibliographie

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