CONSTRAINED MULTIBODY SYSTEMS - GRAPH-THEORETIC NEWTON-EULER FORMULATION

被引：14

作者：

BACIU, G

CHOU, JCK

KESAVAN, HK

机构：

[1] Department of Systems Design Engineering, University of Waterloo, Waterloo

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1990年 / 20卷 / 05期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1109/21.59967

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

The high degree of complexity of the mathematical modeling and formulation of the dynamic equations of spatial rigid body systems, kinematically constrained by various type of interconnections, has been a hindrance to the development of truly general purpose simulators. With the aid of graph theory it is now possible to combine the topological information of a constrained rigid body system with the mathematical formulation of the equations of motion in a direct, systematic, and consistent procedural fashion that lends itself to a straightforward computer implementation. Such a graph-theoretical formulation for the dynamics analysis and simulation of three-dimensional constrained rigid body systems is presented. © 1990 IEEE

引用

页码：1025 / 1048

页数：24

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