Abstract
Variational principles in mechanics [CKK+68, GPS02] provide a straightforward method to formulate a complex mechanical system under constraints. The principles are directly related to numerical optimization and numerical integration of ordinary differential equations under constraints. This chapter reviews the variational principles in mechanics, which are applied to formulate statics and dynamics in grasping and manipulation, as well as numerical methods related to these principles.
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© 2009 Springer London
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(2009). Variational Formulations in Mechanics. In: Mechanics and Control of Soft-fingered Manipulation. Springer, London. https://doi.org/10.1007/978-1-84800-981-3_5
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DOI: https://doi.org/10.1007/978-1-84800-981-3_5
Publisher Name: Springer, London
Print ISBN: 978-1-84800-980-6
Online ISBN: 978-1-84800-981-3
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