Constrained Multibody Systems: Graph-Theoretic Newton-Euler Formulation

George Baciu, Jack C K Chou, H. K. Kesavan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

16 Citations (Scopus)


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 languageEnglish
Pages (from-to)1025-1048
Number of pages24
JournalIEEE Transactions on Systems, Man and Cybernetics
Issue number5
Publication statusPublished - 1 Jan 1990
Externally publishedYes

ASJC Scopus subject areas

  • General Engineering


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