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.
|Title of host publication||Proceedings of a symposium commemorating the legacy, works, and life of Sir robert Stawell Ball|
|Subtitle of host publication||Upon the 100th anniversary of 'A Treatise on the Theory of Screws'|
|Place of Publication||Cambridge, UK|
|Publisher||University of Cambridge|
|Number of pages||28|
|Publication status||Published - 2000|
|Event||Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell BALL 2000 - University of Cambridge, Trinity College, Cambridge, United Kingdom|
Duration: 9 Jul 2000 → 12 Jul 2000
|Conference||Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell BALL 2000|
|Abbreviated title||BALL 2000|
|Period||9/07/00 → 12/07/00|
Stramigioli, S., Maschke, B., & Bidard, C. (2000). A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory. In Proceedings of a symposium commemorating the legacy, works, and life of Sir robert Stawell Ball: Upon the 100th anniversary of 'A Treatise on the Theory of Screws' Cambridge, UK: University of Cambridge.