Linear-Time Dynamics for Multibody Systems with General Joint Models

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Date
2010
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
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.
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@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
} }
Citation