Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics
through the medium of spatial 6D vector notation. It explains how to model a rigid-body …

A review of recent developments in multibody dynamics modeling and analysis is presented.
Multibody dynamics is one of the fastest growing fields of applied mechanics. Multibody …

Multibody systems are the appropriate models for predicting and evaluating performance of
a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or …

This paper discucsses and compares six different methods for calculating the Jacobian for a
general N-degree-of freedom manipulator. We enumerate the computational efficiency of …

This paper presents a new adaptive control scheme for mechanical manipulators. Making
use of the fundamental properties of the manipulator equations, an adaptive algorithm is …

After three decades of computational multibody system (MBS) dynamics, current research is
centered at the development of compact and user-friendly yet computationally efficient …

This monograph represents the second book of the series entitled:" SCI ENTIFIC FUNDAl-
1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial …

New and recently developed concepts and ideas useful in obtaining efficient computer
algorithms for solving the equations of motion of multi-body mechanical systems with flexible …

In this article, the mathematical modeling of n-viscoelastic-link robotic manipulators based
on the Gibbs–Appell formulation and the assumed mode method is developed. The elastic …

A new computer oriented method for linearized dynamic model construction of open-chain
active mechanisms is developed. The method is an extension of an existing algorithm for …