Lie theory, Riemannian geometry, and the dynamics of coupled rigid bodies. (English) Zbl 0998.70004

Park, F. C.; Kim, M. W.

Z. Angew. Math. Phys. 51, No. 5, 820-834 (2000).

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.

Reviewer: Marco Modugno (Firenze)

MSC:

70E55	Dynamics of multibody systems
70G45	Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics

Keywords:

Riemannian geometry; dynamics of coupled rigid bodies; Euclidean group; Lie group \(SE(3)\); Lie algebra \(se(3)\)