A Quick Tutorial on Multibody Dynamics
A Quick Tutorial on Multibody DynamicsC. Karen LiuSumit JainSchool of Interactive ComputingGeorgia Institute of TechnologyiContents1 Introduction22 Lagrangian Dynamics33 Review: Newton-Euler equations64 Rigid Body Dynamics : Lagrange s equations85 Articulated Rigid Body Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cartesian and generalized velocities . . . . . . . . . . . . . . . .. . . . . . . Equations of motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156 Conversion between Cartesian and Generalized Velocity conversion.
A good understanding of multibody dynamics is paramount for designing effective controllers. There are many ways to learn multibody dynamics. Reading a textbook on this topic or taking a course from the mechanical engineering department will both do the job. However, if you only want to learn the minimal set of multibody dynamics necessary to ...
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