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doi:10.22028/D291-30553
Title: | Redundant configuration coordinates and nonholonomic velocity coordinates in analytical mechanics |
Author(s): | Konz, Matthias Rudolph, Joachim |
Editor(s): | Breitenecker, Felix Kemmetmüller, Wolfgang Körner, Andreas Kugi, Andreas Troch, Inge |
Language: | English |
Title: | IFAC-PapersOnLine |
Startpage: | 409 |
Endpage: | 414 |
Publisher/Platform: | Elsevier |
Year of Publication: | 2018 |
Place of publication: | Amsterdam |
Title of the Conference: | MATHMOD 2018 |
Place of the conference: | Vienna, Austria |
Publikation type: | Conference Paper |
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: | https://www.sciencedirect.com/science/article/pii/S2405896318300740 |
Link to this record: | hdl:20.500.11880/28917 http://dx.doi.org/10.22028/D291-30553 |
ISSN: | 2405-8963 |
Date of registration: | 26-Mar-2020 |
Notes: | IFAC-PapersOnLine, Volume 51, Issue 2, 2018, Pages 409-414 |
Faculty: | NT - Naturwissenschaftlich- Technische Fakultät |
Department: | NT - Systems Engineering |
Professorship: | NT - Prof. Dr. Joachim Rudolph |
Collections: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
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