Forward dynamics of open-loop multibody mechanisms using an efficient recursive algorithm based on canonical momenta
From MaRDI portal
Publication:1405343
DOI10.1023/A:1024509904612zbMath1024.70004MaRDI QIDQ1405343
Frank Daerden, Joris Naudet, Zdravko Terze, Dirk Lefeber
Publication date: 25 August 2003
Published in: Multibody System Dynamics (Search for Journal in Brave)
equations of motion; generalized coordinates; Hamiltonian equations; forward dynamics; canonical momenta; open-loop multibody mechanisms; recursive Newton-Euler formulation; rotational joints; serial structure
70H05: Hamilton's equations
70E60: Robot dynamics and control of rigid bodies
70E55: Dynamics of multibody systems
Related Items
A systematic method for the hybrid dynamic modeling of open kinematic chains confined in a closed environment, Forward dynamical analysis of flexible multibody systems using system-level model reduction, A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators, A recursive, numerically stable, and efficient simulation algorithm for serial robots, Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds, The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator, Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems, Screw and Lie group theory in multibody dynamics, A parallel Hamiltonian formulation for forward dynamics of closed-loop multibody systems, A reduction algorithm for open-loop rigid-body systems with revolute joints, Dynamic modeling of tree-type robotic systems by combining $3\times 3$ rotation and $4\times 4$ transformation matrices
