Titlebook: Rigid Body Dynamics Algorithms; Roy Featherstone Book 2008 Springer Science+Business Media New York 2008

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Contact and Impact,pose this constraint are similarly one-sided: they can act to prevent penetration, but not to prevent separation—they can repel, but not attract. If two bodies meet with velocities that are not consistent with the contact constraint between them, then an impulse is generated that causes a step change in their velocities. We call this event an ..

Stress-Fracture

NUDGE

Book 2008 how to model a rigid-body system .and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using f

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Spatial Vector Algebra,ing rigid-body dynamics, in which a single spatial vector can do the work of two 3D vectors, and a single spatial equation replaces two (or sometimes more) 3D vector equations. Spatial vector notation allows us to develop equations of motion quickly, and to express them succinctly in symbolic form.

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核心

Inverse Dynamics,re used in motion control systems, trajectory design and optimization (e.g. for robots and animated figures), in mechanical design, and as a component in some forward dynamics algorithms. This last application is covered in Chapter 6.

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,Forward Dynamics — Inertia Matrix Methods,on; and it is sometimes called ‘direct dynamics’, or simply ‘dynamics’. In this chapter and the next, we examine the forward dynamics of kinematic trees. The dynamics of closed-loop systems is covered in Chapter 8.

PAC

,Forward Dynamics — Propagation Methods,e to solve for any of these unknowns locally at any one body; but it is possible to formulate equations that they must satisfy. Propagation methods work by calculating the coefficients of such equations locally, and propagating them to neighbouring bodies, until we eventually reach a point where we