KINEMATICS AND DYNAMICS OF A RIGID-BODY IN NONHOLONOMIC COORDINATES

被引：2
|
作者：
MLADENOVA, CD [1 ]
机构：
[1] UNIV WUPPERTAL,D-42119 WUPPERTAL,GERMANY
来源：
SYSTEMS & CONTROL LETTERS | 1994年 / 22卷 / 04期
关键词：
NONHOLONOMIC (PSEUDO OR QUASI) COORDINATES; DIFFERENTIAL MANIFOLD; TANGENT SPACE; LIE GROUPS AND LIE ALGEBRAS; RIGID BODY;
D O I：
10.1016/0167-6911(94)90056-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we consider dynamic equations of nonholonomic systems in terms of pseudo-coordinates which appear in the general theory of rigid body. Especially, the rotator kinematics and dynamics in nonholonomic coordinates is presented. Besides, using the appropriate methods of the differential geometry and theory of Lie groups and Lie algebras a simplification of motion equations in the tangent space is obtained.
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页码：257 / 265
页数：9
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