Transcription of A Quick Tutorial on Multibody Dynamics
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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 .. Force conversion ..197 Recursive Inverse Dynamics in the local frame .. Pass 1: Compute velocity and acceleration .. Pass 2: Compute force and torque.
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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