Multi-Body Kinematics and Dynamics with Lie Groups

Multi-body Kinematics and Dynamics with Lie Groups starts with an overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group which may be used in problems of kinematics and dynamics of rigid bodies. The book includes exercises allowing the reader to get familiar with this mathematical framework. For the more experienced readers, theoretical results that have appeared in some scientific articles are also included. For example, a complete classification of singularities of mechanisms is developed through exercises.

• Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group
• Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy
• Includes theoretical results that have appeared in scientific articles

Dominique Paul Chevallier is a research director at the Institute Navier-ENPC since 2006. He obtained his PhD in 1973.