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.
CITATION STYLE
Lee, T., Leok, M., & McClamroch, N. H. (2018). Rigid and multi-body systems. In Interaction of Mechanics and Mathematics (pp. 399–484). Springer Verlag. https://doi.org/10.1007/978-3-319-56953-6_9
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