Inverse and forward dynamics: models of multi–body systems

Forward Dynamics of Multibody Systems: A Recursive Hamiltonian Approach

The increase in processing power and the theoretical breakthroughs achieved in multibody systems dynamics have improved the usefulness of dynamic simulations to such an extent that the development of a whole range of applications has been triggered. Dynamic simulations are used for the analysis of mechanisms, virtual prototyping, simulators, computer animation, advanced control, etc. and are ga...

Dynamics of Multibody Systems

Comparing forward and inverse models

Comparing forward and inverse models to estimate the seasonal variation of hemisphere-integrated fluxes of carbonyl sulfide A. J. Kettle, U. Kuhn, M. von Hobe, J. Kesselmeier, P. S. Liss, and M. O. Andreae School of Environmental Sciences, University of East Anglia, Norwich, United Kingdom Biogeochemistry Department, Max Planck Institute for Chemistry, Mainz, Germany Received: 16 April 2002 – A...

Dynamics and Control of Multibody Systems

Forward Dynamics Algorithms for Multibody Chains and Contact

We describe a framework for derivation of several forward dynamics algorithms used in robotics. The framework is based on formulating an augmented system and performing block matrix elimination on this system. Several popular algorithms such as the O(N) Articulated Body method, and Composite Rigid Body method can be easily derived. We also derive an algorithm for simulation of contact between s...