Title: Hamel’s Formalism and Variational Integrators
Abstract: Hamel's formalism is a representation of Lagrangian mechanics obtained by measuring the velocity components relative to a frame that generically is not induced by configuration coordinates. The use of this formalism often leads to a simpler representation of dynamics. Utilizing the variational discretization approach, this paper develops a discrete Hamel's formalism with applications to nonholonomic integrators.
Publication Year: 2015
Publication Date: 2015-01-01
Language: en
Type: book-chapter
Indexed In: ['crossref']
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Cited By Count: 14
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