Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach

被引：3
作者：
Massa, Enrico [1 ]
Vignolo, Stefano [1 ]
机构：
[1] Univ Genoa, DIME, Sez Metodi & Modelli Matemat, Piazzale Kennedy, I-16129 Genoa, Italy
来源：
MECCANICA | 2016年 / 51卷 / 08期
关键词：
Gauss principle; Rigid body kinematics and dynamics; Lagrange and Kirchhoff equations; SYSTEMS;
D O I：
10.1007/s11012-015-0333-7
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasi-coordinates in the velocity space. The group-theoretical aspects of the method are discussed.
引用
收藏
页码：2019 / 2023
页数：5
相关论文
共 13 条
[1]  
Fossen T.I., 2011, HDB MARINE CRAFT HYD, DOI [10.1002/9781119994138, DOI 10.1002/9781119994138]
[2]  
Fossen T.I., 2002, Marine control systems
[3]  
Godbillon C., 1969, Geometrie Differentielle et Mecanique Analytique
[4]  
Hamel G., 1949, THEORETISCHE MECH EI
[5]  
Levi- Civita T., 1984, LEZIONI MECCANICA RA
[6]  
Lewandowski E.M., 2004, DYNAMICS MARINE CRAF
[7]  
Massa E, 1997, ANN I H POINCARE-PHY, V66, P1
[8]  
MASSA E, 1991, ANN I H POINCARE-PHY, V55, P511
[9]  
Milne-Thomson L., 1968, Theoretical Hydrodynamics
[10]  
Newman J., 2017, MARINE HYDRODYNAMICS
12