Equations of Newton-Euler and Lagrange for multibody systems with tree-like structure

MaRDI QIDQ4647741zbMATH OpenFDO

Authors Vladimir Konoplev, Alexander G. Cheremensky

Publication date 7 November 2012

zbMATH Keywords

roboticsmultibody systemsscrew theoryEuler anglesequations of Newton-Euler and LagrangeEuler-Rodrigues and Gibbs vectorsFedorov vector-parameter

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Kinematics of a rigid body (70B10)

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• Newton-Euler equations in general coordinates
• Kronecker product and a new matrix form of Lagrangian equations with multipliers for constrained multibody systems
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