Evolution of the DeNOC-based dynamic modelling for multibody systems
نویسندگان
چکیده
منابع مشابه
Differential-Geometric Modelling and Dynamic Simulation of Multibody Systems
Original scientific paper A formulation for the kinematics of multibody systems is presented, which uses Lie group concepts. With line coordinates the kinematics is parameterized in terms of the screw coordinates of the joints. Thereupon, the Lagrangian motion equations are derived, and explicit expressions are given for the objects therein. It is shown how the kinematics and thus the motion eq...
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2013
ISSN: 2191-916X
DOI: 10.5194/ms-4-1-2013