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

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,Forward Dynamics — Propagation Methods, al., 1997; Rosenthal, 1990; Saha, 1997). Propagation algorithms are more complicated than inertia-matrix algorithms, but they have a computational complexity of .(..), which is the theoretical minimum for solving the forward dynamics problem.

AER

Hybrid Dynamics and Other Topics,ic loops, and Section 9.6 shows how gear constraints can be incorporated into a rigid-body system using a technique that was developed in Chapter 8 for kinematic loops. Two different rigid-body systems are dynamically equivalent if they have the same equation of motion. Section 9.7 explores this con

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f spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.978-1-4899-7868-4978-1-4899-7560-7

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978-1-4899-7868-4Springer Science+Business Media New York 2008

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Introduction

Roy FeatherstoneA comprehensive collection of the best rigid-body dynamics algorithms.Use of spatial (6D) vectors to greatly reduce the volume of algebra, to simplify the treatment of the subject, and to simplify the

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Introduction,games, in animation and virtual-reality software, in simulators, in motion control systems, and in a variety of engineering design and analysis tools. In every case, a computer is calculating the forces, accelerations, and so on, associated with the motion of a rigid-body approximation of a physical system.

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