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 .. 2411 IntroductionIf you have not read the excellent SIGGRAPH course notes on physics-based animationby Witkin and Baraff, you can stop reading further right now.
Articulated human motions can be described by a set of dynamic equations of motion of multibody systems. Since the direct application of Newton’s second law becomes difficult when a complex articulated rigid body system is considered, we use Lagrange’s equations derived from D’Alembert’s principle to describe the dynamics of motion.
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