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

作者：Massa Enrico; Vignolo Stefano^*

来源：Meccanica, 2016, 51(8): 2019-2023.

DOI：10.1007/s11012-015-0333-7

• Gauss principle
• Rigid body kinematics and dynamics
• Lagrange and Kirchhoff equations

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 quasi-coordinates in the velocity space. The group-theoretical aspects of the method are discussed.

• 出版日期2016-8