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In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

In recent work, the exact dynamic equations for the motion of a finite rigid body in a central gravitational field were shown to be of Hamiltonian form with a noncanonical structure. In this paper, the notion of relative ...

In this paper, we consider the geometry of gyroscopic systems with symmetry, starting from an intrinsic Lagrangian viewpoint. We note that natural mechanical systems with exogenous forces can be transformed into gyroscopic ...

The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is interesting to know ...

In this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of ...

This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...