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arXiv · 1607.00156

Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach

Enrico Massa·Stefano Vignolo
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Abstract

A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.

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Enrico Massa, Stefano Vignolo. 2016-07-01. Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach. https://doi.org/10.1007/s11012-015-0333-7

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