Abstract
The high degree of complexity of the mathematical modeling and formulation of the dynamic equations of spatial rigid body systems, kinematically constrained by various type of interconnections, has been a hindrance to the development of truly general purpose simulators. With the aid of graph theory it is now possible to combine the topological information of a constrained rigid body system with the mathematical formulation of the equations of motion in a direct, systematic, and consistent procedural fashion that lends itself to a straightforward computer implementation. Such a graph-theoretical formulation for the dynamics analysis and simulation of three-dimensional constrained rigid body systems is presented.
Original language | English |
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Pages (from-to) | 1025-1048 |
Number of pages | 24 |
Journal | IEEE Transactions on Systems, Man and Cybernetics |
Volume | 20 |
Issue number | 5 |
DOIs | |
Publication status | Published - 1 Jan 1990 |
Externally published | Yes |
ASJC Scopus subject areas
- Engineering(all)