Linear-Time Dynamics for Multibody Systems with General Joint Models
Date
2010Pay-Per-View via TIB Hannover:
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Most current linear-time forward dynamics algorithms support only simple types of joints due to difficulties in computing derivatives of joint transformations up to order two.We apply the D* symbolic differentiation algorithm to a recursive formulation of forward dynamics to get a highly efficient linear-time forward dynamics algorithm supporting multibody systems with general scleronomic joints. With this new algorithm we can easily build a treetopology multibody system with complex joint models and perform forward dynamics efficiently. The source code for the algorithm is freely available for non-commercial use.
BibTeX
@inproceedings {10.2312:SCA:SCA10:031-037,
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation},
editor = {MZoran Popovic and Miguel Otaduy},
title = {{Linear-Time Dynamics for Multibody Systems with General Joint Models}},
author = {Si, Weiguang and Guenter, Brian},
year = {2010},
publisher = {The Eurographics Association},
ISSN = {1727-5288},
ISBN = {978-3-905674-27-9},
DOI = {10.2312/SCA/SCA10/031-037}
}
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation},
editor = {MZoran Popovic and Miguel Otaduy},
title = {{Linear-Time Dynamics for Multibody Systems with General Joint Models}},
author = {Si, Weiguang and Guenter, Brian},
year = {2010},
publisher = {The Eurographics Association},
ISSN = {1727-5288},
ISBN = {978-3-905674-27-9},
DOI = {10.2312/SCA/SCA10/031-037}
}