INMABB   05456
INSTITUTO DE MATEMATICA BAHIA BLANCA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Reduced discrete equations for the rolling disk
Autor/es:
CÉDRIC M. CAMPOS; VIVIANA ALEJANDRA DÍAZ; DAVID MARTÍN DE DIEGO
Lugar:
Miraflores de la Sierra
Reunión:
Congreso; V Internatinal Summer School on Geometry, Mechanics and Control; 2011
Institución organizadora:
Instituto de Ciencias Matemáticas, Madrid, España
Resumen:
The study of the motion of a disk rolling on a horizontal rough plane has been the purpose of many works, above all as part of a more general study of systems with rolling constraints. These systems are classical examples of nonholonomic ones and they are described by Lagrange-d?Alembert?s principle. In some cases, the equations of motion allow the study of the dynamics of the system but sometimes it is necessary to use numerical methods to study the dynamics from a qualitative point of view as, for instance, simulate the trajectories of the system. We consider the classical nonholonomic example of a rolling disk and we shall introduce a nonholonomic integrator for this system. We write the discrete Lagrange-d?Alembert equations for the rolling disk and show the numerical simulation of a trajectory and its energy behaviour.