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About A Quick Tutorial On Multibody Dynamics
This document provides a quick tutorial on multibody dynamics for simulating articulated human motions. It begins with an overview of Lagrangian dynamics and deriving the equations of motion for a multibody system using Lagrange's equations. It then discusses converting between Cartesian and generalized coordinates, and describes how to efficiently compute inverse dynamics using a recursive formulation. The key topics covered are: 1) Deriving the equations of motion for a multibody system using Lagrange's equations from D'Alembert's principle. 2) Expressing the equations of motion in vector form with the mass matrix M and Coriolis/centrifugal terms C. 3) Converting between generalized coordinates used in the equations of
Detailed Information
| Author: | ['AnkitSisodia'] |
|---|---|
| Publication Year: | 2014 |
| Pages: | 25 |
| Language: | English |
| Format: | |
| Price: | FREE |
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