Related papers: The rigid body dynamics: classical and algebro-geo…
This work is devoted to giving a geometric framework for describing higher-order non-autonomous mechanical systems. The starting point is to extend the Lagrangian-Hamiltonian unified formalism of Skinner and Rusk for these kinds of systems,…
We develop the theory of discrete time Lagrangian mechanics on Lie groups, originated in the work of Veselov and Moser, and the theory of Lagrangian reduction in the discrete time setting. The results thus obtained are applied to the…
The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to…
The mathematical theory of rigidity of body-bar and body-hinge frameworks provides a useful tool for analyzing the rigidity and flexibility of many articulated structures appearing in engineering, robotics and biochemistry. In this paper we…
We investigate the relationship between rigid motions and relative equilibria in the N-body problem on the two-dimensional sphere, S2. We prove that any rigid motion of the N-body system on S2 must be a relative equilibrium. Our approach…
This monograph describes a Riemannian geometric reduction approach to the three-body problem. The fundamental theorems are presented in the introductory part, whereas their proofs are provided in later chapters where specific topics are…
We investigate the large scale geometry of certain metric spaces through the lens of dynamics. Our approach establishes a close connection between large scale dynamical phenomena and operator algebras by characterizing various large scale…
We consider the quantum version of Arnold's generalisation of a rigid body in classical mechanics. Thus, we quantise the motion on an arbitrary Lie group manifold of a particle whose classical trajectories correspond to the geodesics of any…
The aim of this paper is to perform a deeper geometric analysis of problems appearing in dynamics of affinely rigid bodies. First of all we present a geometric interpretation of the polar and two-polar decomposition of affine motion. Later…
An algebraic procedure of getting of canonical variables in a rigid body dynamics is presented. The method is based on using a structure of an algebra of Lie-Poisson brackets with which a Hamiltonian dynamics is set. In a particular case of…
We consider the solid-solid interactions in the two body problem. The relative equilibria have been previously studied analytically and general motions were numerically analyzed using some expansion of the gravitational potential up to the…
The article formulates the classical three-body problem in conformal-Euclidean space (Riemannian manifold), and its equivalence to the Newton three-body problem is mathematically rigorously proved. It is shown that a curved space with a…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
Classical dynamical laws are conventionally formulated as closed evolution equations defined on fixed geometric backgrounds and a global time parameter. We develop a formulation in which neither prescribed evolution laws nor an external…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
The motion of a rigid body immersed in an incompressible perfect fluid which occupies a three- dimensional bounded domain have been recently studied under its PDE formulation. In particular classical solutions have been shown to exist…
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…
We describe classical top-like integrable systems arising from the quantum exchange relations and corresponding Sklyanin algebras. The Lax operator is expressed in terms of the quantum non-dynamical $R$-matrix even at the classical level,…
We introduce and study the mechanical system which describes the dynamics and statics of rigid bodies of constant density floating in a calm incompressible fluid. Since much of the standard equilibrium theory, starting with Archimedes,…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…