scholarly journals Baker–Campbell–Hausdorff–Dynkin Formula for the Lie Algebra of Rigid Body Displacements

Mathematics ◽  
2020 ◽  
Vol 8 (7) ◽  
pp. 1185
Author(s):  
Daniel Condurache ◽  
Ioan-Adrian Ciureanu
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Lie Algebra ◽  
Lie Group ◽  
First Time

The paper proposes, for the first time, a closed form of the Baker–Campbell–Hausdorff–Dynkin (BCHD) formula in the particular case of the Lie algebra of rigid body displacements. For this purpose, the structure of the Lie group of the rigid body displacements S E ( 3 ) and the properties of its Lie algebra s e ( 3 ) are used. In addition, a new solution to this problem in dual Lie algebra of dual vectors is delivered using the isomorphism between the Lie group S E ( 3 ) and the Lie group of the orthogonal dual tensors.

Geometric Pseudospectral Method on Lie Group with Application to 3D Pendulum

2013 ◽  
Vol 756-759 ◽  
pp. 3021-3029
Author(s):  
Jie Li ◽  
Hong Lei An ◽  
Xue Qiang Gu ◽  
Hong Tao Xue
Keyword(s):  
Differential Equation ◽  
Rigid Body ◽  
Lie Algebra ◽  
Lie Group ◽  
Structural Characteristics ◽  
Pseudospectral Method ◽  
Rigid Body Dynamics ◽  
Equivariant Map ◽  
Body Dynamics

General pseudospectral method is extended to Lie group by virtue of equivariant map for solving rigid dynamics on Lie group. In particular, for the problem of structural characteristics of the dynamics system can not be conserved by using general pseudospectral method directly on Lie group, the differential equation evolving on the Lie group is transformed to an equivalent differential equation evolving on a Lie algebra on which general pseudospectral method is used, so that the numerical flow of rigid body dynamics is ensured to stay on Lie group. Furthermore, structural conservativeness and numerical stabilities of this method are validated and analyzed by simulation on a 3D pendulum in comparison with using pseudospectral method directly on Lie group.

scholarly journals Geometric Pseudospectral Method on SE(3) for Rigid-Body Dynamics with Application to Aircraft

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Jie Li ◽  
Honglei An ◽  
Huayong Zhu ◽  
Lincheng Shen ◽  
Bin Fang
Keyword(s):  
Rigid Body ◽  
Lie Algebra ◽  
Lie Group ◽  
Pseudospectral Method ◽  
Velocity Model ◽  
Rigid Body Dynamics ◽  
Dynamics Simulation ◽  
Configuration Model ◽  
Body Dynamics ◽  
And Control

General pseudospectral method is extended to the special Euclidean group SE(3) by virtue of equivariant map for rigid-body dynamics of the aircraft. On SE(3), a complete left invariant rigid-body dynamics model of the aircraft in body-fixed frame is established, including configuration model and velocity model. For the left invariance of the configuration model, equivalent Lie algebra equation corresponding to the configuration equation is derived based on the left-trivialized tangent of local coordinate map, and the top eight orders truncated Magnus series expansion with its coefficients of the solution of the equivalent Lie algebra equation are given. A numerical method called geometric pseudospectral method is developed, which, respectively, computes configurations and velocities at the collocation points and the endpoint based on two different collocation strategies. Through numerical tests on a free-floating rigid-body dynamics compared with several same order classical methods in Euclidean space and Lie group, it is found that the proposed method has higher accuracy, satisfying computational efficiency, stable Lie group structural conservativeness. Finally, how to apply the previous discretization scheme to rigid-body dynamics simulation and control of the aircraft is illustrated.

ε‎-Invariance

2018 ◽  
Author(s):  
Ercüment H. Ortaçgil
Keyword(s):  
Lie Algebra ◽  
Lie Group

The discussions up to Chapter 4 have been concerned with the Lie group. In this chapter, the Lie algebra is constructed by defining the operators ∇ and ∇̃.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

Sir Robert Stawell Ball and methodologies of modern screw theory

2002 ◽  
Vol 216 (1) ◽  
pp. 1-11 ◽  
Author(s):  
H Lipkin ◽  
J Duffy
Keyword(s):  
Computational Geometry ◽  
Rigid Body ◽  
Lie Algebra ◽  
Screw Theory ◽  
Mechanical Design ◽  
Ball Screw ◽  
Dual Numbers ◽  
Body Dynamics ◽  
Rigid Body Mechanics ◽  
Multi Body

The theory of screws was largely developed by Sir Robert Stawell Ball over 100 years ago to investigate general problems in rigid body mechanics. Nowadays, screw theory is applied in many different but related forms including dual numbers, Plilcker coordinates and Lie algebra. An overview of these methodologies is presented along with a perspective on Ball. Screw theory has re-emerged after a hiatus to become an important tool in robot mechanics, mechanical design, computational geometry and multi-body dynamics.

scholarly journals COMMUTATORS OF SKEW-SYMMETRIC MATRICES

2005 ◽  
Vol 15 (03) ◽  
pp. 793-801 ◽  
Author(s):  
ANTHONY M. BLOCH ◽  
ARIEH ISERLES
Keyword(s):  
Optimal Control ◽  
Lie Algebra ◽  
Lie Algebras ◽  
Lie Group ◽  
Geometric Integration ◽  
Symmetric Matrices ◽  
Frobenius Norm

In this paper we develop a theory for analysing the "radius" of the Lie algebra of a matrix Lie group, which is a measure of the size of its commutators. Complete details are given for the Lie algebra 𝔰𝔬(n) of skew symmetric matrices where we prove [Formula: see text], X, Y ∈ 𝔰𝔬(n), for the Frobenius norm. We indicate how these ideas might be extended to other matrix Lie algebras. We discuss why these ideas are of interest in applications such as geometric integration and optimal control.

scholarly journals A Drift-Free Left Invariant Control System on the Lie Group SO(3)×R3×R3

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Camelia Pop
Keyword(s):  
Control System ◽  
Numerical Integration ◽  
Lie Algebra ◽  
Lie Group ◽  
Poisson Structure ◽  
Dual Space ◽  
Free System ◽  
Geometrical Properties ◽  
Free Left ◽  
Invariant Control

A controllable drift-free system on the Lie group G=SO(3)×R3×R3 is considered. The dynamics and geometrical properties of the corresponding reduced Hamilton’s equations on g∗,·,·- are studied, where ·,·- is the minus Lie-Poisson structure on the dual space g∗ of the Lie algebra g=so(3)×R3×R3 of G. The numerical integration of this system is also discussed.

scholarly journals THE UNIVERSAL LINK POLYNOMIAL

1992 ◽  
Vol 07 (05) ◽  
pp. 877-945 ◽  
Author(s):  
E. GUADAGNINI
Keyword(s):  
Field Theory ◽  
Closed Form ◽  
Lie Algebra ◽  
Wilson Line ◽  
Expectation Values ◽  
Simple Lie Algebra ◽  
Chern Simons

The solution of the non-Abelian SU (N) quantum Chern–Simons field theory defined in R3 is presented. It is shown how to compute the expectation values of the Wilson line operators, associated with oriented framed links, in closed form. The main properties of the universal link polynomial, defined by these expectation values, are derived in the case of a generic real simple Lie algebra. The resulting polynomials for some simple examples of links are reported.

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