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
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页码：1025 / 1048
页数：24
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