Canonical Poisson structure on T*SE(3) and the Hamiltonian mechanics of solids. Dynamics of a magnetic dipole in the external field
DOI:
https://doi.org/10.15407/dopovidi2014.04.037Keywords:
canonical Poisson structure, Hamiltonian mechanics of solidsAbstract
We consider a canonical Poisson structure on the cotangent bundle T*SE(3) as a basis for the Hamiltonian mechanics of solids. The Poisson brackets for base dynamic variables are calculated in the different representations. We propose a "mixed" representation so that the forward and rotatory degrees of freedom are described in an inertial reference frame and in the body frame, respectively. The equation of motion is obtained for a magnetic dipole in the external field.
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