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Browse Journals & Magazines > Robotics and Automation, IEEE ...> Volume:11 Issue:2 Help

Symbolic construction of models for multibody dynamics

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2 Author(s)
Kwatny, H.G. ; Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA ; Blankenship, G.L.

New algorithms are presented for deriving joint kinematic relations and these are integrated with Poincare's form of Lagrange's equations to generate the dynamical equations of motion for rigid multibody chains. Software is described which performs all of the required symbolic constructions. Examples are given

Published in:
Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 2 )

Date of Publication: Apr 1995

Page(s):
271 - 281
ISSN :
1042-296X
INSPEC Accession Number:
4937391
Digital Object Identifier :
10.1109/70.370509
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Apr 1995
Sponsored by :
IEEE Robotics and Automation Society

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