A Systems Approach to Three-Dimensional Multibody Systems Using Graph-Theoretic Models

DOI10.1109/TSMC.1986.4308942MaRDI QIDQ3706534zbMATH OpenOpenAlexFDO

Authors Jack C. K. Chou, H. K. Kesavan, Kishore Singhal

Publication date 1986

Published in IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tsmc.1986.4308942

zbMATH Keywords

Euler parametersgeneral three-dimensional isolated rigid-body systemsgraph-theoretic models of a rigid bodyhybrid formulationlinear graph theorynormalized quaternionssingle body systemsystem topology

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Free motion of a rigid body (70E15) Control of mechanical systems (70Q05)

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• Constrained multibody systems: graph-theoretic Newton-Euler formulation
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