Base-controlled mechanical systems and geometric phases
نویسنده
چکیده
In this paper, we carry a detailed study of mechanical systems with configuration space Q −→ Q/G for which the base Q/G variables are being controlled. The overall system ́s motion is considered to be induced from the base one due to the presence of general nonholonomic constraints. It is shown that the solution can be factorized into dynamical and geometrical parts. Moreover, under favorable kinematical circumstances, the dynamical part admits a further factorization since it can be reconstructed from an intermediate (body) momentum solution, yielding a reconstruction phase formula. Finally, we apply this results to the study of concrete mechanical systems.
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