Evolutionary trends in rigid body dynamics

Evolutionary Trends in Rigid Body Dynamics

Certain evolutionary trends from analytical methods to a combination of analytical, computational and measurement methods are addressed in this paper. Implications of these trends in modeling, stability, actuation and control of multi rigid body systems are explored here. This approach makes use of recent technical developments in two areas. Electronic hardware is currently available for comput...

Title : Rigid body dynamics

3D Rigid Body Dynamics

The difficulty of describing the positions of the body-fixed axis of a rotating body is approached through the use of Euler angles: spin ψ̇, nutation θ and precession φ shown below in Figure 1. In this case we surmount the difficulty of keeping track of the principal axes fixed to the body by making their orientation the unknowns in our equations of motion; then the angular velocities and angula...

Frictional Rigid Body Dynamics

Practical problems like regulating robot grippers critically rely on accurately predicted friction forces. Qualified methods are derived and discussed subsequently. Special attention is paid to the question of solution existence. A time-stepping scheme which supports Coulomb friction and inelastic impacts is implemented and the numerical results are analyzed. The approach proofs to be stable, a...

GPU-Based Rigid Body Dynamics

The simulation of rigid body dynamics is an area of interest both for scientific research and engineering applications. The accurate numerical solution of the underlying complementarity problems is complex. The use of the computational power of current graphics processing units (GPUs) to solve these systems seems promising. Using NVIDIA ’s CUDA technology for General-Purpose computation on Grap...