Relative Equilibria for Two Rigid Bodies.
Krishnaprasad, Perinkulam S.
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For simple mechanical systems with symmetry, a variational principle on configuration space determines relative equilibria. Here, this principle of symmetric criticality is applied to a problem of coupled rigid bodies. Numerical optimization by CONSOLE (a package intended originally for optimization based control system design) is shown to be an effective technique to search for some of the relative equilibria.