A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics
type: Item
instance of: scholarly article
title: A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics
zbMATH Open document ID: 1021.70003
DOI: 10.1023/A:1023321630764
published in: Multibody System Dynamics
publication date: 2003-06-09T00:00:00Z
review text: The authors use screw algebraic methods to develop the kinematics and dynamics of rigid multibody systems with holonomic constraints. This allows for a purely algebraic derivation of the Lagrangian equations of motion. Both open and closed kinematic chains are considered. The paper is theoretical. It could be of use to kinematicians and dynamicists working with large multibody systems.
Mathematics Subject Classification ID: 70E55
Mathematics Subject Classification ID: 70G65
Mathematics Subject Classification ID: 70F20
Mathematics Subject Classification ID: 70B10
zbMATH DE Number: 1924888
zbMATH Keywords: Lie-group formulations
zbMATH Keywords: dynamics
zbMATH Keywords: singularities
zbMATH Keywords: open kinematic chains
zbMATH Keywords: screw algebraic methods
zbMATH Keywords: kinematics
zbMATH Keywords: rigid multibody systems
zbMATH Keywords: holonomic constraints
zbMATH Keywords: Lagrangian equations of motion
zbMATH Keywords: closed kinematic chains
author: Andreas Müller
author: Peter Maißer
reviewed by: Ronald L. Huston
MaRDI profile type: Publication
full work available at URL: a:1023321630764
OpenAlex ID: W347387333
description: scientific article; zbMATH DE number 1924888