In this chapter, the formulation of motion’s equations of multi-rigid body systems is described. The generalized coordinates are the centroidal Cartesian coordinates, being the system configuration restrained by constraint equations. The present formulation uses the Newton-Euler’s equations of motion, which are augmented with the constraint equations that lead to a system of differential algebraic equations. This formulation is straightforward in terms of assembling the equations of motion and providing all reaction forces.
CITATION STYLE
Flores, P. (2015). Equations of motion for constrained systems. SpringerBriefs in Applied Sciences and Technology, 168, 49–53. https://doi.org/10.1007/978-3-319-16190-7_10
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