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CDC
2009
IEEE

Dynamics of a 3D elastic string pendulum

13 years 8 months ago
Dynamics of a 3D elastic string pendulum
— This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the point where the string is attached to the rigid body is displaced from the center of mass of the rigid body, there exist nonlinear coupling effects between the string deformation and the rigid body dynamics. A geometric numerical integrator, referred to as a Lie group variational integrator, is developed to numerically preserve the Hamiltonian structure of the presented model and its Lie group configuration manifold. These properties are illustrated by a numerical simulation.
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
Added 21 Jul 2010
Updated 21 Jul 2010
Type Conference
Year 2009
Where CDC
Authors Taeyoung Lee, Melvin Leok, N. Harris McClamroch
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