Dual-velocity graphs in spatial kinematics

George Baciu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


This article introduces a high-level topological representation for general multibody systems, the spatial directed graph. This simplified topological structure emphasizes the principal aspects of motion in multilink systems and forms a concise representation for the entire class of kinematically constrained multibody systems. It is shown that certain kinematic invariants with respect to this representation allow the simple formulation of kinematic constraints. In this context, it is observed that the only variables that are amenable to an operational algebra associated with this graph are the dual velocities. This formalism represents the starting point for the automatic generation of motion equations for generic multibody systems with applications in motion animation, virtual reality, robotics.
Original languageEnglish
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
Number of pages8
Publication statusPublished - 1 Jan 1996
Externally publishedYes
EventFourth International Conference on Computer-Aided Design and Computer Graphics - Wuhan, China
Duration: 23 Oct 199525 Oct 1995


ConferenceFourth International Conference on Computer-Aided Design and Computer Graphics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Condensed Matter Physics


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