Geometric Phases, and Optimal Reconfiguration for Multibody Systems
Geometric Phases, and Optimal Reconfiguration for Multibody Systems
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1990
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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.