A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains
نویسندگان
چکیده
منابع مشابه
A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains
In this work an efficient dynamics algorithm is developed which is applicable to a wide range of multibody systems, including underactuated systems, branched or treetopology systems, robots, and walking machines. The dynamics algorithm is differentiated with respect to the input parameters in order to form sensitivity equations. The algorithm makes use of techniques and notation from the theory...
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ژورنال
عنوان ژورنال: Journal of Dynamic Systems, Measurement, and Control
سال: 2000
ISSN: 0022-0434,1528-9028
DOI: 10.1115/1.1376121