The Motion of a Rigid Body with Irrational Natural Frequency

The Lagrange rigid body motion

RNG Rigid Body Motion

This note outlines how the coupling between the motion of rigid bodies immersed in a fluid and the motion of this fluid is handled in XNS. For a rigid body one has a group of nodes which define the surface of the rigid body called “reference node group” (RNG). For each RNG we save the properties of motion in arrays which in the following we will call “RNG arrays”. They contain the bottom and to...

Non-Rigid Body Motion

During the last few years motion analysis has developed into a major field of interest in image analysis and understanding . Considerable progress has been made as evidenced by the number of publications . However , most of these have been confined to the study of rigid body mot ion . Very few have addressed the issue of non-rigid body motion which poses many interesting and difficult problems ...

On the Computation of Rigid Body Motion

We present two methods for generating trajectories and motion interpolants that minimize energy functionals on SE(3), the group of rigid body displacements. We treat SE(3) as a Lie Group and endow it with a left-invariant Riemannian metric derived from energy considerations. The first method is based on a relaxation formulation where the Euler-Lagrange equations for the minimization problem are...

Suboptimal Control of Rigid Body Motion with a Quadratic Cost

In this paper we consider the problem of controlling the rotational motion of a rigid body using three independent control torques. Given a quadratic cost we seek stabilizing state feedback controllers which are suboptimal in the sense that, given a scalar , they guarantee that all motions starting within a specified bounded set result in a cost bounded by . For a special class of cost function...