A Hamel basis is a set a, ô, c, • • • of real numbers such that if x is any real number whatsoever then x may be expressed uniquely in the form aa+(3b+yc + • • • where a, j8, 7, • • • are rational numbers of which only a finite number are different from zero. Since each of these sums is formed from a finite number of nonzero terms and the coefficients a, /3, 7, • • • are rational and therefore ...

Abstract The Boltzmann–Hamel (BH) equations are central in the dynamics and control of nonholonomic systems described terms quasi-velocities. rigid body is a classical example such systems, it well-known that BH-equations Newton–Euler (NE) when twists as It further known NE-equations Euler–Poincaré, respectively, reduced Euler–Lagrange on SE (3) using body-fixed or spatial representation twists...