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Erschienen in:
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2014 | OriginalPaper | Buchkapitel

6. Rigid Body Dynamics

verfasst von : Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen

Erschienen in: Vehicle-Manipulator Systems

Verlag: Springer London

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Abstract

Dynamics is the study of how forces affect the motion of rigid bodies. In this chapter we introduce the fundamental topics required to derive the dynamic equations for rigid bodies with the results obtained in the previous chapters on rigid body kinematics as a starting point. In this way we obtain a well-defined formulation of the dynamics without singularities and other artifacts. The formulation can be used to derive the dynamics of bodies with different configuration spaces, i.e., both flat Euclidean spaces and non-Euclidean configuration spaces on manifolds. The equations are well suited for simulation and controller design.

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Vorheriges Kapitel Kinematics of Vehicle-Manipulator Systems
Nächstes Kapitel Dynamics of Manipulators on a Fixed Base
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Metadaten
Titel
Rigid Body Dynamics
verfasst von
Pål Johan From
Jan Tommy Gravdahl
Kristin Ytterstad Pettersen
Copyright-Jahr
2014
Verlag
Springer London
Buch
Vehicle-Manipulator Systems

Print ISBN: 978-1-4471-5462-4

Electronic ISBN: 978-1-4471-5463-1

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-1-4471-5463-1_6

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