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Multibody Kinematical Equations in Terms of Relative Variables
Author(s) -
Schwertassek R.
Publication year - 1988
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.19880680606
Subject(s) - rotation formalisms in three dimensions , kinematics , representation (politics) , differential equation , multibody system , equations of motion , dynamical systems theory , state variable , computer science , state space , kinematics equations , set (abstract data type) , state space representation , mathematics , dynamical system (definition) , algebraic equation , control theory (sociology) , mathematical analysis , nonlinear system , algorithm , robot kinematics , classical mechanics , physics , control (management) , artificial intelligence , geometry , law , political science , politics , robot , quantum mechanics , thermodynamics , programming language , mobile robot , statistics
Formalisms for computer aided generation of multibody system equations are considered to start from a most simple set of data describing the system's mechanical properties and to apply to most general classes of systems. The generation of the right side of the dynamical equations and of additional relations describing closed loop control of the system motion has been discussed previously for formalisms yielding a state space representation and using relative variables. A state space representation of the system kinematics is gotten easily in case of tree configured systems only. In case of systems with closed circuits the system kinematics must be represented in the general case by a set of differential algebraic equations. These are developed here from data available in a joint kinematics library.