Lagrangian mechanics and the geometry of configuration spacetime

1983 ◽  
Vol 149 (1) ◽  
pp. 203-233 ◽  
Author(s):  
Manfred Trümper
Keyword(s):  
Lagrangian Mechanics

Hamiltonian Mechanics

2017 ◽  
Author(s):  
Jennifer Coopersmith
Keyword(s):  
Angular Momentum ◽  
Jacobi Equation ◽  
Modern Theory ◽  
Hamiltonian Mechanics ◽  
Lagrangian Mechanics ◽  
Canonical Transformations ◽  
Canonical Variables ◽  
Light Waves ◽  
Hamilton Jacobi Equation ◽  
Common Action

Hamilton’s genius was to understand what were the true variables of mechanics (the “p − q,” conjugate coordinates, or canonical variables), and this led to Hamilton’s Mechanics which could obtain qualitative answers to a wider ranger of problems than Lagrangian Mechanics. It is explained how Hamilton’s canonical equations arise, why the Hamiltonian is the “central conception of all modern theory” (quote of Schrödinger’s), what the “p − q” variables are, and what phase space is. It is also explained how the famous conservation theorems arise (for energy, linear momentum, and angular momentum), and the connection with symmetry. The Hamilton-Jacobi Equation is derived using infinitesimal canonical transformations (ICTs), and predicts wavefronts of “common action” spreading out in (configuration) space. An analogy can be made with geometrical optics and Huygen’s Principle for the spreading out of light waves. It is shown how Hamilton’s Mechanics can lead into quantum mechanics.

Introduction

2017 ◽  
Author(s):  
Laurent Baulieu ◽  
John Iliopoulos ◽  
Roland Sénéor
Keyword(s):  
Conservation Laws ◽  
Lagrangian Mechanics ◽  
General Introduction ◽  
Noether’S Theorem ◽  
Noether's Theorem

General introduction with a review of the principles of Hamiltonian and Lagrangian mechanics. The connection between symmetries and conservation laws, with a presentation of Noether’s theorem, is included.

Is There Life in Possible Worlds?

2017 ◽  
Author(s):  
Mark Wilson
Keyword(s):  
Possible Worlds ◽  
Machine Design ◽  
Lagrangian Mechanics ◽  
Philosophical Investigations ◽  
Search Spaces ◽  
Dimensional Modeling ◽  
Lower Dimensional

Scientists have developed various collections of specialized possibilities to serve as search spaces in which excessive reliance upon speculative forms of lower dimensional modeling or other unwanted details can be skirted. Two primary examples are discussed: the search spaces of machine design and the virtual variations utilized within Lagrangian mechanics. Contemporary appeals to “possible worlds” attempt to imbed these localized possibilities within fully enunciated universes. But not all possibilities are made alike and these reductive schemes should be resisted, on the grounds that they render the utilities of everyday counterfactuals and “possibility” talk incomprehensible. The essay also discusses whether Wittgenstein’s altered views in his Philosophical Investigations reflect similar concerns.

Poisson Brackets & Angular Momentum

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Generating Functions ◽  
First Integrals ◽  
Lagrangian Mechanics ◽  
Poisson Brackets ◽  
Coordinate Transformations ◽  
Canonical Transformations ◽  
Gauge Transformations ◽  
The Third ◽  
Point Transformations ◽  
Canonical Coordinate

This chapter discusses canonical transformations and gauge transformations and is divided into three sections. In the first section, canonical coordinate transformations are introduced to the reader through generating functions as the extension of point transformations used in Lagrangian mechanics, with the harmonic oscillator being used as an example of a canonical transformation. In the second section, gauge theory is discussed in the canonical framework and compared to the Lagrangian case. Action-angle variables, direct conditions, symplectomorphisms, holomorphic variables, integrable systems and first integrals are examined. The third section looks at infinitesimal canonical transformations resulting from functions on phase space. Ostrogradsky equations in the canonical setting are also detailed.

scholarly journals A SURVEY OF LAGRANGIAN MECHANICS AND CONTROL ON LIE ALGEBROIDS AND GROUPOIDS

2006 ◽  
Vol 03 (03) ◽  
pp. 509-558 ◽  
Author(s):  
JORGE CORTÉS ◽  
MANUEL DE LEÓN ◽  
JUAN C. MARRERO ◽  
D. MARTÍN DE DIEGO ◽  
EDUARDO MARTÍNEZ
Keyword(s):  
Control Systems ◽  
Classical Field Theory ◽  
Nonholonomic Constraints ◽  
Classical Field ◽  
Lie Algebroids ◽  
Hamiltonian Mechanics ◽  
Lagrangian Mechanics ◽  
Geometric Description ◽  
Lagrangian And Hamiltonian Mechanics ◽  
And Control

In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical control systems, Discrete Mechanics and extensions to Classical Field Theory within a single framework. Various examples along the discussion illustrate the soundness of the approach.

Analysis and Design of an Auxiliary Catching Arm for an Apple Picking Robot

2020 ◽  
Author(s):  
Andrew Porter ◽  
Jassim Alhamid ◽  
Changki Mo ◽  
John Miller ◽  
Joseph Iannelli ◽  
...  
Keyword(s):  
Lagrangian Mechanics ◽  
Drop Height ◽  
Joint Angles ◽  
3 Dimensional ◽  
Analysis And Design ◽  
Revolute Joints ◽  
Linkage Design ◽  
Workspace Analysis ◽  
Forward Linkage ◽  
Mechanical Linkage

Abstract The newly designed 3-dimensional catching robot consists of three revolute joints where the forward linkage is a parallelogram mechanism for keeping the catching end-effector parallel to the picking manipulator’s base. A virtual apple field of 505 apples, designed to test the picking abilities of 7 DOF arm, was used to determine the capabilities of this new catching arm design. The target catching efficiency was 90% for the provided virtual apple field with a maximum drop height of 30 cm. The target coordinates for each virtual apple were found by computer simulation in MATLAB. Geometric parameters were selected such that the catching manipulator could reach every possible drop position in the picking manipulator’s workspace. The design was completed, fabricated, and validated, utilizing the elegant mechanical linkage design. The workspace analysis showed that it had an acceptable 93% catching efficiency, and as the drop height increased, the efficiency approaches 100%. Definitive inverse-kinematics provided exact joint angles required to catch all catchable apples inside of the workspace. Using these angles, the general equation of motion, using Lagrangian mechanics, yielded the required torque outputs of each of the three motors on the arm. Validation of these torques through laboratory experimentation was considered adequate.

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