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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

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