On the nonholonomic Stubler model
A. V. Tsiganov
TL;DR
This paper explores two methods to construct Poisson bivectors for the nonholonomic Stubler model, which describes a ball rolling without slipping on a cylindrical surface, using the Euler-Jacobi theorem.
Contribution
It introduces two novel constructions of Poisson structures for the nonholonomic Stubler model based on classical theorems.
Findings
Two explicit Poisson bivectors are constructed.
The methods provide new insights into the geometric structure of the model.
The approach may be applicable to other nonholonomic systems.
Abstract
We discuss two constructions of the Poisson bivectors based on the Euler-Jacobi theorem for the nonholonomic Stubler model, which describes rolling without sliding of a uniform ball on a cylindrical surface.
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Taxonomy
TopicsControl and Dynamics of Mobile Robots · Homotopy and Cohomology in Algebraic Topology · Geometric and Algebraic Topology