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. http://resolver.caltech.edu/CaltechAUTHORS:20100927-073236430
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Abstract
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.
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| 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. | ||||||||||||
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| Record Number: | CaltechAUTHORS:20100927-073236430 | ||||||||||||
| Persistent URL: | http://resolver.caltech.edu/CaltechAUTHORS:20100927-073236430 | ||||||||||||
| 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 | ||||||||||||
| Collection: | CaltechAUTHORS | ||||||||||||
| Deposited By: | Ruth Sustaita | ||||||||||||
| Deposited On: | 27 Sep 2010 23:04 | ||||||||||||
| Last Modified: | 01 May 2015 18:30 |
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