ハメルの方程式と拘束・浮遊マルチボディ・宇宙システムの幾何力学
Hamel's Equations and Geometric Mechanics of Constrained and Floating Multibody and Space Systems
ハメルの方程式と幾何学的力学を結びつけ、接続の曲率や慣性分離を導出する統一的な定式化を提案した理論研究。
著者: Andreas Mueller
分類: math.DS, cs.RO, math-ph, math.DG, math.MP, physics.class-ph
原文アブストラクト
Modern geometric approaches to analytical mechanics rest on a bundle structure of the configuration space. The connection on this bundle allows for an intrinsic splitting of the reduced Euler-Lagrange equations. Hamel's equations, on the other hand, provide a universal approach to non-holonomic mechanics in local coordinates. The link between Hamel's formulation and geometric approaches in local coordinates has not been discussed sufficiently. The reduced Euler-Lagrange equations as well as the curvature of the connection, are derived with Hamel's original formalism. Intrinsic splitting into Euler-Lagrange and Euler-Poincare equations, and inertial decoupling is achieved by means of the locked velocity. Various aspects of this method are discussed.
