On geometric dynamics of rigid multi-body systems

Stramigioli, Stefano and Duindam, Vincent (2007) On geometric dynamics of rigid multi-body systems. PAMM : Proceedings in Applied Mathematics and Mechanics, 7 (1). pp. 3030001-3030002. ISSN 1617-7061

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Abstract:	Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to Rn. This limitation leads to singularities and other artifacts in case the configuration space has a different topology, for example in the case of ball joints or a free-floating mechanism. This paper discusses an extension of classical methods to allow for a very general class of joints, including all joints with a Lie group structure. The model equations are derived using the Boltzmann-Hamel equations and have very similar structure and complexity as obtained using classical methods, but they do not suffer from singularities. Furthermore, the equations are explicit differential equations that can be directly implemented in simulation software.
Item Type:	Article
Copyright:	© 2007 Wiley InterScience
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/72340
Official URL:	http://dx.doi.org/10.1002/pamm.200700076
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