2008 | OriginalPaper | Buchkapitel
Forward Dynamics — Inertia Matrix Methods
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Forward dynamics is the problem of finding the acceleration of a rigid-body system in response to given applied forces. It is used mainly for simulation; and it is sometimes called ‘direct dynamics’, or simply ‘dynamics’. In this chapter and the next, we examine the forward dynamics of kinematic trees. The dynamics of closed-loop systems is covered in Chapter 8.