A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics

DOI10.1023/A:1023321630764zbMath1021.70003MaRDI QIDQ1810797

Peter Maißer, Andreas Müller

Publication date: 9 June 2003

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1023321630764

zbMATH Keywords

kinematics; dynamics; singularities; holonomic constraints; Lagrangian equations of motion; rigid multibody systems; closed kinematic chains; Lie-group formulations; open kinematic chains; screw algebraic methods

Mathematics Subject Classification ID

70B10: Kinematics of a rigid body

70F20: Holonomic systems related to the dynamics of a system of particles

70E55: Dynamics of multibody systems

70G65: Symmetries, Lie group and Lie algebra methods for problems in mechanics

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