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

Surgeon

Obvious

协定

Asperity

Contact and Impact,the signed distance between them, meaning that . < 0 if they overlap, then the contact constraint is given by the inequality . ≥ 0. The forces that impose this constraint are similarly one-sided: they can act to prevent penetration, but not to prevent separation—they can repel, but not attract. If t

省略

o simplify the treatment of the subject, and to simplify theRigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system .and how to analyze it, and it presents the most compreh

Offensive

staging

Defense

MURKY

饰带

Roy Featherstonere friendly to each other and can be brought together into a broader, integrated perspective. By bringing focus to all of the relevant components and their interactions, cognitive systems are transformed into seemingly self-organizing systems, in which behavior and cognition become a dynamical proce