In this chapter, the Cartesian translation and orientation coordinates are referred to as the absolute generalized coordinates, which define, respectively, the body translation and orientation with respect to a selected global coordinate system. Because the formulations presented in this chapter are based on the Newton–Euler equations of motion, the body reference point, which defines the origin of the body coordinate system, is assumed to be attached to the body center of mass in order to eliminate the inertia coupling between the body translation and rotation. Two approaches are commonly used to formulate the constrained dynamic equations of motion of multibody systems whose components are connected by mechanical joints: the Newtonian approach and the Lagrangian approach. The Newton–Euler equations used in rigid body dynamics can be systematically derived using Newton’s law for particles and the kinematic equations.
Equations of Motion
2021-04-05
66 pages
Article/Chapter (Book)
Electronic Resource
English
Wiley | 2024
|AIAA | 2001
|Wiley | 2006
|AIAA | 2015
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