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Journal of Automation and Information Sciences
SJR: 0.238 SNIP: 0.464 CiteScore™: 0.27

ISSN Imprimir: 1064-2315
ISSN On-line: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v50.i5.10
pages 1-10

Layering O+(E3) as Configuration Space while Modeling Rigid Body

Sergey I. Lyashko
Kiev National Taras Shevchenko University, Kiev
Stanislav S. Zub
Kiev National Taras Shevchenko University, Kiev
Victor S. Lyashko
P.L. Shupyk National Medical Academy of Postgraduate Education, Kiev
Nataliya I. Lyashko
V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kiev
Andrey Yu. Chernyavskiy
N.E. Zhukovskiy National Aerospace University "Kharkov Aviation Institute", Kharkov


It is known that the position of a solid body is uniquely determined if it is given orthonormal triad, which is rigidly connected with the body. It is also logical to assume that the origin of this movable reference coordinate system is located in the center of mass of the body, and the unit vectors have directions of the main axes of inertia of the body, therefore, the layering O+(E3) of orthonormal oriented triads over the three-dimensional Euclidean space E3 is a natural configuration space of a rigid body. In this approach, the Poisson reduction of the phase space of a solid body to symmetrical top has a clear geometric meaning.

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