engleski

Observation on the use of Canonical Momenta in an Efficient Recursive Algorithm for the Forward Dynamics of Open Loop Multibody Systems

A new method for establishing the equations of motion of open-loop multibody systems is presented. It is based on recursive Newton-Euler formulation. As a result, a Hamiltonian set of ODE of the first order and canonical momenta is obtained. The amount of arithmetical operations needed for proposed method is consderably less than classical recursive formulations.

Hamilton's equations; Canonical momenta; Recursive formulation

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