Title :
Symbolic construction of models for multibody dynamics
Author :
Kwatny, Harry G. ; Blankenship, Gilmer L.
Author_Institution :
Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA
fDate :
4/1/1995 12:00:00 AM
Abstract :
New algorithms are presented for deriving joint kinematic relations and these are integrated with Poincare´s form of Lagrange´s equations to generate the dynamical equations of motion for rigid multibody chains. Software is described which performs all of the required symbolic constructions. Examples are given
Keywords :
mechanical engineering; robot kinematics; symbol manipulation; Lagrange´s equations; Poincare´s form; dynamical equations of motion; joint kinematic relations; multibody dynamics; rigid multibody chains; symbolic construction; Application software; Assembly; Computational modeling; Equations; Kinematics; Lagrangian functions; Notice of Violation; Robotics and automation; Robots; Software performance;
Journal_Title :
Robotics and Automation, IEEE Transactions on
