Constrained Multibody Systems: Graph-Theoretic Newton-Euler Formulation

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

doi:10.1109/21.59967

Constrained Multibody Systems: Graph-Theoretic Newton-Euler Formulation

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

Research output: Journal article publication › Journal article › Academic research › peer-review

16 Citations (Scopus)

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
Pages (from-to)	1025-1048
Number of pages	24
Journal	IEEE Transactions on Systems, Man and Cybernetics
Volume	20
Issue number	5
DOIs	https://doi.org/10.1109/21.59967
Publication status	Published - 1 Jan 1990
Externally published	Yes

ASJC Scopus subject areas

Engineering(all)

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10.1109/21.59967

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Constrained Multibody Systems: Graph-Theoretic Newton-Euler Formulation

Abstract

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