Lie theory, Riemannian geometry, and the dynamics of coupled rigid bodies (Q1589875)
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scientific article; zbMATH DE number 1543020
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| English | Lie theory, Riemannian geometry, and the dynamics of coupled rigid bodies |
scientific article; zbMATH DE number 1543020 |
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Lie theory, Riemannian geometry, and the dynamics of coupled rigid bodies (English)
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13 December 2000
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The authors provide a fine Riemannian geometric formulation of the dynamics of \(n\) coupled rigid bodies in terms of Lie group \(SE(3)\) and its Lie algebra \(se(3)\). Several aspects and consequences of this approach are discussed.
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Riemannian geometry
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dynamics of coupled rigid bodies
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Euclidean group
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Lie group \(SE(3)\)
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Lie algebra \(se(3)\)
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0.91773784
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0.9070743
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0.8978384
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0.8969285
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0.8899846
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