A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory
نویسندگان
چکیده
In this paper two main topics are treated. In the first part we give a synthetic presentation of the geometry of rigid body motion in a projective geometrical framework. An important issue is the geometric approach to the identification of twists and wrenches in a Lie group approach and their relation to screws. In the second part we give a formulation of the dynamics of multibody systems in terms of implicit port controlled Hamiltonian system defined with respect to Dirac structures.
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