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 ...