Inverse dynamics in rigid body mechanics

نویسندگان

چکیده

Inverse Dynamics is used to calculate the forces and moments in joints of multibody systems investigated fields such as Biomechanics or Robotics. In a didactic spirit, this paper begins with an overview derivations kinematical dynamical equations rigid bodies from point view modern Continuum Mechanics. Then, it introduces matrix formulation for solution problems and, finally, reports simple two-dimensional example application problem Biomechanics.

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ژورنال

عنوان ژورنال: Theoretical and applied mechanics

سال: 2022

ISSN: ['1450-5584', '2406-0925']

DOI: https://doi.org/10.2298/tam221109011f