Dynamics of Multibody Systems with Minimal Coordinates (original) (raw)

Computer-Aided Analysis of Rigid and Flexible Mechanical Systems, 1994

Abstract

Discussed in this contribution is a particular approach for tackling the problem of formulating the equations of motion of minimal order for complex mechanical systems. The obective is to arrive at a system of pure differential equations, which is robust and for which efficient integration techniques exist. This is achieved by a special treatment of the kinematics, which are formulated

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