A Discretization of the Nonholonomic Chaplygin Sphere Problem

• Published in: Symmetry, Integrability and Geometry: Methods and Applications
• Date: 2007
• Main Author: Fedorov, Y.N.
• Format: Article
• Language: English
• Published: Інститут математики НАН України 2007
• Online Access: https://nasplib.isofts.kiev.ua/handle/123456789/147819
• Journal Title: Digital Library of Periodicals of National Academy of Sciences of Ukraine
• Cite this: A Discretization of the Nonholonomic Chaplygin Sphere Problem / Y.N. Fedorov // Symmetry, Integrability and Geometry: Methods and Applications. — 2007. — Т. 3. — Бібліогр.: 20 назв. — англ.

The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with nonholonomic constraints and introducing suitable discrete...