DocumentCode
3178652
Title
Hamel´s formalism and variational integrators on a sphere
Author
Zenkov, D.V. ; Leok, Melvin ; Bloch, Anthony M.
Author_Institution
Dept. of Math., North Carolina State Univ., Raleigh, NC, USA
fYear
2012
fDate
10-13 Dec. 2012
Firstpage
7504
Lastpage
7510
Abstract
This paper discusses Hamel´s formalism and its applications to structure-preserving integration of mechanical systems. It utilizes redundant coordinates in order to eliminate multiple charts on the configuration space as well as nonphysical artificial singularities induced by local coordinates, while keeping the minimal possible degree of redundancy and avoiding integration of differential-algebraic equations.
Keywords
integration; mechanical engineering; redundancy; Hamel formalism; configuration space; mechanical system; nonphysical artificial singularity; redundant coordinate; sphere; structure-preserving integration; variational integrator; Dynamics; Equations; Mathematical model; Mechanical systems; Potential energy; USA Councils; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location
Maui, HI
ISSN
0743-1546
Print_ISBN
978-1-4673-2065-8
Electronic_ISBN
0743-1546
Type
conf
DOI
10.1109/CDC.2012.6426779
Filename
6426779
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