文章基本信息

标题：Equations of motion with redundant coordinates for mechanical systems on manifolds
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作者：M. Konz ; J. Rudolph
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：1
页码：681-682
DOI：10.1016/j.ifacol.2015.05.194
语种：English
出版社：Elsevier
摘要：AbstractThe Lagrange formalism for deriving equations of motion for lumped mechanical systems is reviewed. When dealing with a con_guration space that is not isomorphic to Rn, the choice of generalized coordinates is local and may result in awkward expressions. It is shown how redundant coordinates can lead to more convenient global expressions.
关键词：Keywordsenergy methodsLagrange equationsredundant coordinatesembedding