The Lagrange rigid body motion

The Lagrange 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 ...

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...

Invariant Description of Rigid Body Motion Trajectories

This paper presents a minimal invariant coordinate-free description of rigid body motion trajectories. Based on a motion model for the instantaneous screw axis, a time-based coordinate-free description consisting of six scalar functions of time is defined. Analytical formulas are presented to obtain these functions from the pose or twist coordinates of a motion trajectory. The time-based functi...