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Published 1988 | Published
Book Section - Chapter Open

The Dynamics of Two Coupled Rigid Bodies

Abstract

In this paper we derive a Poisson bracket on the phase space so(3)^*x so(3)^*x SO(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.

Additional Information

© 1988 SIAM. Research supported in part by AFOSR-URI grant # AFOSR-87-0073. Partially supported by NSF grant OIR-85-00108, and by the Minta Martin Fund for Aeronautical Research. Research partially supported by DOE contract DE-AT03-85ER-12097.

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Published - GrKrMa1988_CRBs.pdf

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