A Discretization of the Nonholonomic Chaplygin Sphere Problem
A Discretization of the Nonholonomic Chaplygin Sphere Problem
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 constraints, we construct a discretization of the n-dimensional generalization of the …