Rigid body dynamics using a novel approach based on Lie group theory

Abstract

A systematic theoretical approach is presented, in an effort to provide a complete and illuminating study on motion of a rigid body rotating about a fixed point. Since the configuration space of this motion is a differentiable manifold possessing group properties, this approach is based on some fundamental concepts of differential geometry. A key idea is the introduction of a canonical connection, matching the manifold and group properties of the configuration space. This is sufficient for performing the kinematics. Next, following the selection of an appropriate metric, the dynamics is also carried over. The present approach is theoretically more demanding than the traditional treatments but brings substantial benefits. In particular, an elegant interpretation is provided for all the quantities with fundamental importance in rigid body motion. It also leads to a correction of some misconceptions and geometrical inconsistencies in the field. Finally, it provides powerful insight and a strong basis for the development of efficient numerical techniques in problems involving large rotations.