| 刚体定点转动欧拉运动学方程的群表示法 |
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| 引用本文： | 潘学琴.刚体定点转动欧拉运动学方程的群表示法[J].装甲兵工程学院学报,1995(2). |
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| 作者姓名： | 潘学琴 |
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| 作者单位： | 装甲兵工程学院机械设计教研室 北京，100072 |
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| 摘 要： | 目前研究刚体定点转动欧拉运动学方程大多用矢量的方法,过程繁琐.本文拟用群理论理解刚体的定点转动.利用SO_(3)群的左不变形式,作用于左不变向量场d/dt得到欧拉运动学方程,并且给出计算李代数的左不变形式A(?)dA的一个简化方法.
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| 关 键 词： | 左不变形式 SO_(3) 欧拉运动方程 |
Group Representation of Euler Kinematic Equation in Fixed-point Motion of Rigid Body |
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| Pan Xueqin.Group Representation of Euler Kinematic Equation in Fixed-point Motion of Rigid Body[J].Journal of Armored Force Engineering Institute,1995(2). |
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| Authors: | Pan Xueqin |
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| Abstract: | In this article,the Euler kinematic equation of the motion of a rigid body about afixed point will be illustrated through group theory instead of the vector method used at pre-sent. Namely Euler kinematic equation will be yielded by the left-invariant form of groupSO(3) acting on its left-invariant vector field,and followed by a simplified method of calcu-lating left-invariant form A-1dA of Lie algebra. |
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| Keywords: | Left-invariant form group SO(3) Euler kinematic equation |
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