Forward dynamics of open-loop multibody mechanisms using an efficient recursive algorithm based on canonical momenta
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Publication:1405343
DOI10.1023/A:1024509904612zbMath1024.70004MaRDI QIDQ1405343
Zdravko Terze, Dirk Lefeber, Joris Naudet, Frank Daerden
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
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