engleski

General Formulation of an Efficient Recursive Algorithm Based on Canonical Momenta for Forward Dynamics of Open-loop Multibody Systems

An general algorithm for deriving equations of motion of multibody mechanisms is presented and discussed. It is to be used for unconstrained multibody systems and the proposed forward dynamics formulation, based on a recursive Newton-Euler procedure, results in a Hamiltonian equations. An example of a serial structure system with rotational joints is provided.

Hamiltonian equations; Recursive formulation; Forward Dynamics; Cannonical momenta

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