The Dynamics of Two Coupled Rigid Bodies.


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Please use this identifier to cite or link to this item: http://hdl.handle.net/1903/4531

Title:	The Dynamics of Two Coupled Rigid Bodies.
Authors:	Grossman, R. Krishnaprasad, Perinkulam S. Marsden, Jerrold E.
Department/Program:	ISR
Type:	Technical Report
Issue Date:	1987
Series/Report no.:	ISR; TR 1987-22
Abstract:	In this paper we derive a Poisson bracket on the phase space so(3)x so(3)x S0(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.
URI:	http://hdl.handle.net/1903/4531
Appears in Collections:	Institute for Systems Research Technical Reports

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