A network model for rigid-body motion

RNG Rigid Body Motion

This note outlines how the coupling between the motion of rigid bodies immersed in a fluid and the motion of this fluid is handled in XNS. For a rigid body one has a group of nodes which define the surface of the rigid body called “reference node group” (RNG). For each RNG we save the properties of motion in arrays which in the following we will call “RNG arrays”. They contain the bottom and to...

Non-Rigid Body Motion

During the last few years motion analysis has developed into a major field of interest in image analysis and understanding . Considerable progress has been made as evidenced by the number of publications . However , most of these have been confined to the study of rigid body mot ion . Very few have addressed the issue of non-rigid body motion which poses many interesting and difficult problems ...

The Lagrange rigid body motion

Incipient Motion Criteria for a Rigid Body on a Rigid Surface

Criteria for the incipient motion of a rigid body initially resting on a rigid surface are formulated from first principles in this work. The axiom that both body and surface are rigid allows for enormous simplification. A modified Coulomb friction model and an associated distribution of reaction forces are proposed. Incipient rotation and incipient translation are then considered as seperate c...

On the Computation of Rigid Body Motion

We present two methods for generating trajectories and motion interpolants that minimize energy functionals on SE(3), the group of rigid body displacements. We treat SE(3) as a Lie Group and endow it with a left-invariant Riemannian metric derived from energy considerations. The first method is based on a relaxation formulation where the Euler-Lagrange equations for the minimization problem are...