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    Geometric Phases, and Optimal Reconfiguration for Multibody Systems

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    TR_90-39.pdf (342.6Kb)
    No. of downloads: 1717

    Date
    1990
    Author
    Krishnaprasad, Perinkulam S.
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    Abstract
    Relative Motion in a system of coupled rigid bodies can yield global reorientation (or phase shift.) We give a formula to compute such a phase shift and interpret the same in geometric terms. The theory of connections in principal bundles provides the proper setting for questions of the addressed in this paper. A related optimal control problem leads to singular riemannian geometry.
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    http://hdl.handle.net/1903/4987
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