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Forward Dynamics — Inertia Matrix Methods

  • Featherstone R
Springer US, (2008), 101-118
DOI: 10.1007/978-1-4899-7560-7_6
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Abstract

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.

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APA

Featherstone, R. (2008). Forward Dynamics — Inertia Matrix Methods. In Rigid Body Dynamics Algorithms (pp. 101–118). Springer US. https://doi.org/10.1007/978-1-4899-7560-7_6

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