Kinematic analysis of multibody systems

被引：5
|
作者：
Tuomela, J. [1 ]
机构：
[1] Univ Joensuu, Dept Math & Phys, FIN-80101 Joensuu, Finland
来源：
BIT NUMERICAL MATHEMATICS | 2008年 / 48卷 / 02期
关键词：
multibody systems; Grobner bases; mobility;
D O I：
10.1007/s10543-008-0176-x
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
We discuss how to use constructive methods in commutative algebra to study multibody systems. The main focus is in the kinematic analysis, i.e. the analysis of the geometry of the configuration space. We show how to define and compute the mobility of the system and study various singularities of the configuration space. We also discuss implications of this analysis for numerical computations.
引用
收藏
页码：405 / 421
页数：17
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