Linear-Time Variational Integrators in Maximal Coordinates

DOI10.1007/978-3-030-66723-8_12zbMath1483.70004arXiv2002.11245OpenAlexW3170545022MaRDI QIDQ3381964

Zachary Manchester, Jan Brüdigam

Publication date: 20 September 2021

Published in: Algorithmic Foundations of Robotics XIV (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2002.11245

zbMATH Keywords

dynamicsvariational integratorsdiscrete mechanicscomputer animation and simulationmaximal coordinates

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Uses Software

• Julia

Cites Work

• Unnamed Item
• Construction and analysis of higher order Galerkin variational integrators
• Construction and analysis of higher order variational integrators for dynamical systems with holonomic constraints
• Stabilization of constraints and integrals of motion in dynamical systems
• Direct Methods for Sparse Matrices
• Julia: A Fresh Approach to Numerical Computing
• Springer Handbook of Robotics
• Discrete mechanics and optimal control: An analysis
• Discrete mechanics and variational integrators
• Robot Dynamics Algorithms
• Geometric Numerical Integration

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