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Rigid and Multi-Body Systems | SpringerLink

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Rigid and Multi-Body Systems

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  • First Online:
Book cover Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

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Abstract

The dynamics of rigid body and multi-body systems are studied using the prior geometric developments. For each example system, a suitable configuration manifold is identified, and a Lagrangian function is obtained, using physical principles, that is defined on the tangent bundle of the configuration manifold. Variational methods are used to derive Euler–Lagrange equations and Hamilton’s equations. Special features of the dynamics are studied.

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Author information

Authors and Affiliations

  1. The George Washington University, Washington, District of Columbia, USA

    Taeyoung Lee

  2. Department of Mathematics, University of California, San Diego, La Jolla, California, USA

    Melvin Leok

  3. Department of Aerospace Engineering, The University of Michigan, Ann Arbor, Michigan, USA

    N. Harris McClamroch

Authors
  1. Taeyoung Lee
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  2. Melvin Leok
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  3. N. Harris McClamroch
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Lee, T., Leok, M., McClamroch, N.H. (2018). Rigid and Multi-Body Systems. In: Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds. Interaction of Mechanics and Mathematics. Springer, Cham. https://doi.org/10.1007/978-3-319-56953-6_9

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  • DOI: https://doi.org/10.1007/978-3-319-56953-6_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56951-2

  • Online ISBN: 978-3-319-56953-6

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