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Cover Art
Author Rabier, Patrick.

Title Nonholonomic motion of rigid mechanical systems from a DAE viewpoint [electronic resource] / Patrick J. Rabier, Werner C. Rheinboldt.

Published Philadelphia, Pa. : Society for Industrial and Applied Mathematics (SIAM, 3600 Market Street, Floor 6, Philadelphia, PA 19104), 2000.


Location Call No. Status
Physical description 1 electronic text (viii, 140 p.) : ill., digital file.
Bibliography Includes bibliographical references (p. 137-138) and index.
Contents Preface -- 1. Introduction -- 2. The Gauss principle for mass points -- 3. The configuration space of a rigid body -- 4. Unconstrained rigid bodies -- 5. Constrained rigid bodies -- 6. DAE formulation in linear spaces -- 7. DAE formulation on manifolds -- 8. Computational methods -- 9. Computational examples -- Appendix. Submanifolds -- References -- Index.
Restrictions Restricted to subscribers or individual electronic text purchasers.
Summary Several issues are investigated in depth to provide a sound and complete justification of the DAE model. These issues include the development of a generalized Gauss principle of least constraint, a study of the effect of the failure of an important full-rank condition, and a precise characterization of the state spaces. In particular, when the mentioned full-rank condition is not satisfied, this book shows how a new set of equivalent constraints can be constructed in a completely intrinsic way, where, in general, these new constraints comply with the full-rank requirement.
Other formats Also available in print version.
System notes Mode of access: World Wide Web.
System requirements: Adobe Acrobat Reader.
Notes Title from title screen, viewed 12/30/2010.
Other author Rheinboldt, Werner C.
Society for Industrial and Applied Mathematics.
Subject Dynamics, Rigid.
Differential-algebraic equations -- Numerical solutions.
Nonholonomic dynamical systems.
Differentiable algebraic equations
Numerical solutions
Rigid bodies
Gauss principle
Computational methods
ISBN 9780898719536 (electronic bk.)
9780898714463 (pbk)
089871446X (pbk)
Publisher Number OT68 SIAM