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The Dynamics of Two Coupled Rigid Bodies

Grossman, R. and Krishnaprasad, P. S. and Marsden, Jerrold E. (1988) The Dynamics of Two Coupled Rigid Bodies. In: Dynamical systems approaches to nonlinear problems in systems and circuits. SIAM , Philadelphia, PA, pp. 373-378.

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In this paper we derive a Poisson bracket on the phase space so(3)^*x so(3)^*x SO(3) such that the dynamics of two three- dimensional rigid bodies coupled by a ball and socket joint can be written as a Hamiltonian system.

Item Type:Book Section
Additional Information:© 1988 SIAM. Research supported in part by AFOSR-URI grant # AFOSR-87-0073. Partially supported by NSF grant OIR-85-00108, and by the Minta Martin Fund for Aeronautical Research. Research partially supported by DOE contract DE-AT03-85ER-12097.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)AFOSR-87-0073
NSF Postdoctoral FellowshipUNSPECIFIED
Minta Martin Fund for Aeronautical ResearchUNSPECIFIED
Department of Energy (DOE)DE-AT03-85ER-12097
Record Number:CaltechAUTHORS:20100927-073236430
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided. Supported by an NSF postdoctoral fellowship held at the University of California, Berkeley.
ID Code:20150
Deposited By: Ruth Sustaita
Deposited On:27 Sep 2010 23:04
Last Modified:01 May 2015 18:30

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