Typical motion in integrable Hamiltonian systems is quasiperiodic
(if motions are bounded, which is always the case for rigid body
dynamics).
Geometrically speaking, this implies that the motion takes place
on invariant tori in phase space.
In the dynamics of the rigid body the toral angles have very
intuitive meanings of rotation, precession and nutation.
For very low energies there may be pendulumlike motions as well.
 Heinz Hanßmann
 Normal forms for perturbations of the Euler top
 p. 151173 in :
 Normal forms and homoclinic chaos, Waterloo 1992
(eds. W.F. Langford and W. Nagata)

Fields Institute Communications 4 (1995)
The abstract is reprinted both in Mathematical Reviews
97b:70008
and the Zentralblatt der Mathematik
831.70006.
 Heinz Hanßmann
 Quasiperiodic Motions of a Rigid Body
 A case study on perturbations of superintegrable systems
 Proefschrift, Rijksuniversiteit Groningen (1995)
 Heinz Hanßmann
 Equivariant perturbations of the Euler top
 p. 227253 in :
 Nonlinear Dynamical Systems and Chaos, Groningen 1995
(eds. H.W. Broer et al.)

Progress in Nonlinear Partial Differential Equations
and Their Applications 19, Birkhäuser (1996)
The abstract is reprinted in the Zentralblatt der Mathematik
847.70009
and there is a review in Mathematical Reviews
98c:58149.
 Heinz Hanßmann
 Quasiperiodic Motions of a Rigid Body I
 Quadratic Hamiltonians on the Sphere with a Distinguished Parameter

Regular and Chaotic Dynamics 2(2), p. 4157 (1997)
The abstract is available from the
publisher
and appeared slightly changed in the Zentralblatt der Mathematik
935.70006.
Furthermore there is a review in Mathematical Reviews
2000h:70009.
A preprint version can be downloaded as PostScript file
(3.9 M)
or in a gzipped version
(244 K).
 Heinz Hanßmann
 Quasiperiodic Motion of a Rigid Body under Weak Forces
 p. 398402 in :
 Hamiltonian Systems with Three or More Degrees of Freedom, S'Agaro 1995
(ed. C. Simó)

NATO ASI series C 533, Kluwer (1999)
The abstract appeared slightly changed in the Zentralblatt der Mathematik
970.70008.
A preprint version can be downloaded as PostScript file
(787 K)
or in a gzipped version
(89 K).
 Heinz Hanßmann
 Quasiperiodic motions of the perturbed Euler top
 p. 11611166 in :

Equadiff 99, Berlin 1999
(eds. B. Fiedler, K. Gröger, J. Sprekels)

World Scientific (2000)
A preprint version can be downloaded as PostScript file
(1.3 M)
or in a gzipped version
(100 K).
 Heinz Hanßmann and Philip Holmes
 On the global dynamics of Kirchhoff's equations
 Rigid body models for underwater vehicles
 p. 353371 in :
 Global Analysis of Dynamical Systems, Leiden 2001
(eds. H.W. Broer, B. Krauskopf, G. Vegter)

IoP publishing (2001)
The abstract is reprinted in Mathematical Reviews
2002h:70008
and there is a review in the Zentralblatt der Mathematik
1015.37043.
A preprint version can be downloaded as PostScript file
(7.4 M)
or in a gzipped version
(973 K).
 Troy R. Smith, Heinz Hanßmann and Naomi Ehrich Leonard
 Orientation control of multiple underwater vehicles
with symmetrybreaking potentials
 p. 45984603 in :
 Proceedings of the 40th IEEE Conference on Decision and Control, Orlando 2001
(eds. D.W. Repperger et al.)

IEEE (2001)
The abstract is available from the
publisher.
A preprint version can be downloaded as PostScript file
(456 K)
or in a gzipped version
(98 K).
 Heinz Hanßmann and JanCees van der Meer
 On nondegenerate Hamiltonian Hopf bifurcations in 3DOF systems
 p. 476481 in :

Equadiff 2003, Hasselt 2003
(eds. F. Dumortier, H.W. Broer, J. Mawhin, A. Vanderbauwhede and
S. Verdyun Lunel)

World Scientific (2005)
The abstract is available from the
publisher
and is reprinted in the Zentralblatt der Mathematik
1102:37037.
A preprint version can be downloaded as PostScript file
(143 K)
or in a gzipped version
(60 K).
 Heinz Hanßmann
 Perturbations of integrable and superintegrable Hamiltonian systems
 p. 15271536 in :

Fifth Euromech Nonlinear Dynamics Conference, Eindhoven 2005
(eds. D.H. van Campen, M.D. Lazurko and W.P.J.M. van den Oever)

Technische Universiteit Eindhoven (2005)
This publication can be downloaded as PostScript file
(3.0 M)
or in pdf
(321 K).
 Heinz Hanßmann, Naomi Ehrich Leonard and Troy R. Smith
 Symmetry and Reduction for Coordinated Rigid Bodies

European Journal of Control 12(2), p. 176194 (2006)
The abstract is available
here
and there is a review in Mathematical Reviews
2007d:37001.
A preprint version can be downloaded as PostScript file
(5.6 M)
or in a gzipped version
(1.2 M).
 Henk W. Broer, Heinz Hanßmann, Jun Hoo and Vincent Naudot
 Nearlyintegrable perturbations of the Lagrange top:
 applications to KAMtheory
 p. 286303 in :
 Dynamics & Stochastics: Festschrift in Honor of M.S. Keane
(eds. D. Denteneer, F. den Hollander and E. Verbitskiy)

Lecture Notes 48,
Inst. of Math. Statistics (2006)
The abstract is available
here
and is reprinted in the Zentralblatt der Mathematik
1125:70003.
Furthermore there is a review in Mathematical Reviews
2009h:70009.
This publication can be downloaded from the
ArXiv
as PostScript file
(1.3 M)
or in pdf
(894 K).
 Heinz Hanßmann
 A monkey saddle in rigid body dynamics
 p. 9299 in :
 SPT 2007:
Symmetry and Perturbation Theory, Otranto 2007
(eds. G. Gaeta, R. Vitolo and S. Walcher)
 World Scientific (2008)
The abstract is reprinted in Mathematical Reviews
2009h:70016
and appeared slightly changed in the Zentralblatt der Mathematik
1142.70003.
A preprint version can be downloaded as PostScript file
(1.5 M)
or in pdf
(317 K).
 Heinz Hanßmann
 Quasiperiodic Motions of a Rigid Body II
 Implications for the Original System

Preprint, Inst. Reine & Angew. Math., RWTH Aachen (1999)
This 14 pages preprint can be downloaded as PostScript file
(1.3 M)
or in a gzipped version
(154 K).