A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory

Stefano Stramigioli; Bernhard Maschke; Catherine Bidard

A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory

Stefano Stramigioli
, Bernhard Maschke
, Catherine Bidard

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

134 Downloads (Pure)

Abstract

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.

Original language	English
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

Conference	Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell BALL 2000
Abbreviated title	BALL 2000
Country/Territory	United Kingdom
City	Cambridge
Period	9/07/00 → 12/07/00

Access to Document

Stramigioli2000hamiltonianFinal published version, 286 KB

Cite this

Stramigioli, Stefano ; Maschke, Bernhard ; Bidard, Catherine. / A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory. 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, 2000.

@inbook{4242d80822c6405c9fdd5ef82207b253,

title = "A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory",

abstract = "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.",

author = "Stefano Stramigioli and Bernhard Maschke and Catherine Bidard",

year = "2000",

language = "English",

booktitle = "Proceedings of a symposium commemorating the legacy, works, and life of Sir robert Stawell Ball",

publisher = "University of Cambridge",

address = "United Kingdom",

note = "Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell BALL 2000, BALL 2000 ; Conference date: 09-07-2000 Through 12-07-2000",

}

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' . University of Cambridge, Cambridge, UK, Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell BALL 2000, Cambridge, United Kingdom, 9/07/00.

A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory. / Stramigioli, Stefano; Maschke, Bernhard; Bidard, Catherine.
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, 2000.

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

TY - CHAP

T1 - A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory

AU - Stramigioli, Stefano

AU - Maschke, Bernhard

AU - Bidard, Catherine

PY - 2000

Y1 - 2000

N2 - 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.

AB - 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.

M3 - Chapter

BT - Proceedings of a symposium commemorating the legacy, works, and life of Sir robert Stawell Ball

PB - University of Cambridge

CY - Cambridge, UK

T2 - Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell BALL 2000

Y2 - 9 July 2000 through 12 July 2000

ER -

A Hamiltonian formulation of the dynamics of spatial mechanisms using Lie Groups and Screw Theory

Abstract

Conference

Access to Document

Fingerprint

Cite this