Forward dynamics of open-loop multibody mechanisms using an efficient recursive algorithm based on canonical momenta

DOI10.1023/A:1024509904612zbMath1024.70004OpenAlexW165762583MaRDI QIDQ1405343

Frank Daerden, Joris Naudet, Zdravko Terze, Dirk Lefeber

Publication date: 25 August 2003

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1024509904612

zbMATH Keywords

equations of motiongeneralized coordinatesHamiltonian equationsforward dynamicscanonical momentaopen-loop multibody mechanismsrecursive Newton-Euler formulationrotational jointsserial structure

Mathematics Subject Classification ID

Hamilton's equations (70H05) Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55)

Related Items

A parallel Hamiltonian formulation for forward dynamics of closed-loop multibody systems, A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators, Dynamic modeling of tree-type robotic systems by combining $3\times 3$ rotation and $4\times 4$ transformation matrices, Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems, A systematic method for the hybrid dynamic modeling of open kinematic chains confined in a closed environment, A recursive, numerically stable, and efficient simulation algorithm for serial robots, Forward dynamical analysis of flexible multibody systems using system-level model reduction, FPGA acceleration of planar multibody dynamics simulations in the Hamiltonian-based divide-and-conquer framework, A reduction algorithm for open-loop rigid-body systems with revolute joints, Screw and Lie group theory in multibody dynamics, Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds, The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator