Linear-Time Dynamics for Multibody Systems with General Joint Models

Si, Weiguang; Guenter, Brian

Linear-Time Dynamics for Multibody Systems with General Joint Models

Files

031-037.pdf (133.27 KB)

scademo.mov (13.14 MB)

Date

2010

Authors

Si, Weiguang
Guenter, Brian

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.

        @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
}
}