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...

We review from a different perspective the approach and solution to torque-free Euler equations, also called free asymmetric top equations. aim simplify broaden study of rigid body. This is an old but important integrable problem that has two first integrals: energy angular momentum. reduce this by eliminating time as independent variable in three autonomous equations written cylindrical dimens...

We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

Many potential applications of computer vision require a 3D tracking system which can cope with very unpredictable, rapid motions of the camera while operating at frame rate. This cannot be achieved using previously available techniques. Robustness in tracking is achieved by combining different systems in a non trivial way. This allows trackers to be designed in such a way that they are not gen...

The flight dynamics of a compound aircraft are highly coupled and significantly different from those single aircraft. In this paper, the characteristic three-unit connected analyzed in detail. By distinguishing aircraft’s modes into symmetric mode group an asymmetric group, mechanisms by which relative roll impact rigid-body vehicle become clear. trim configuration has profound influence on its...

Many mathematical and intuitive methods for constraint analysis of mechanisms have been proposed. In this article we compare three methods. Method one is based on Grüblers equation. Method two uses an intuitive analysis method based on opening kinematic loops and evaluating the constraints at the intersection. Method three uses a flexible multibody modeling approach which facilitates the analys...