This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive, and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multibody systems. Changes to the prescribed/nonprescribed nature of hinges can be implemented during run time since they are handled with very low overhead in the algorithm.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Recursive dynamics algorithm for multibody systems with prescribed motion


    Contributors:


    Publication date :

    1993-10-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English