Cayley kinematics and the Cayley form of dynamic equations Academic Article

abstract

• The Cayley transform and the Cayleytransform kinematic relationships are an important and fascinating set of results that have relevance in N dimensional orientations and rotations. In this paper these results are used in two significant ways. First, they are used in a new derivation of the matrix form of the generalized Euler equations of motion for N dimensional rigid bodies. Second, they are used to intimately relate the motion of general mechanical systems to the motion of higherdimensional rigid bodies. This approach can be used to describe an enormous variety of systems, one example being the representation of general motion of an N dimensional body as pure rotations of an ( N + 1)dimensional body.

authors

• Hurtado, John

published proceedings

• PROCEEDINGS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES

author list (cited authors)

• Sinclair, A. J., & Hurtado, J. E.

citation count

• 12

complete list of authors

• Sinclair, AJ||Hurtado, JE

publication date

• January 2005

publisher

• The Royal Society  Publisher

published in

• Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences  Journal

keywords

• Cayley Transform
• N-dimensional Dynamics
• Rigid-body Mechanics

Digital Object Identifier (DOI)

• 10.1098/rspa.2004.1321

start page

• 761

end page

• 781

volume

• 461

issue

• 2055

URL

• http://dx.doi.org/10.1098/rspa.2004.1321