The Dynamics of Two Coupled Rigid Bodies.
Krishnaprasad, Perinkulam S.
Marsden, Jerrold E.
MetadataShow full item record
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.