A SURVEY OF MULTIBODY DYNAMICS FOR VIRTUAL ENVIRONMENTS

R. Brent Gillespie; J. Edward Colgate

doi:10.1115/IMECE1997-0376

A SURVEY OF MULTIBODY DYNAMICS FOR VIRTUAL ENVIRONMENTS

R. Brent Gillespie, J. Edward Colgate

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

The field of computational dynamics is surveyed, focusing on issues relevant to the construction of a general purpose simulator with haptic display. The various formalisms available for generating dynamical models will be examined with regard to the form of the equations of motion which they produce. To render the effects of intermittent contact and other transient phenomena as driven by a human haptic explorer, a model is needed which is computationally efficient yet can handle changing kinematic constraints neatly. Models in dependent and independent coordinates produced with the Newton-Euler, Lagrangian and Kane formalisms will each be examined in order to provide a vantage point from which an informed selection may be made from among the many tools now’ available in computational dynamics.

Original language	English (US)
Title of host publication	Dynamic Systems and Control
Publisher	American Society of Mechanical Engineers (ASME)
Pages	45-54
Number of pages	10
ISBN (Electronic)	9780791818244
DOIs	https://doi.org/10.1115/IMECE1997-0376
State	Published - 1997
Externally published	Yes
Event	ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control - Dallas, United States Duration: Nov 16 1997 → Nov 21 1997

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	1997-Q

Conference

Conference	ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control
Country/Territory	United States
City	Dallas
Period	11/16/97 → 11/21/97

ASJC Scopus subject areas

Mechanical Engineering

Access to Document

10.1115/IMECE1997-0376

Cite this

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title = "A SURVEY OF MULTIBODY DYNAMICS FOR VIRTUAL ENVIRONMENTS",

abstract = "The field of computational dynamics is surveyed, focusing on issues relevant to the construction of a general purpose simulator with haptic display. The various formalisms available for generating dynamical models will be examined with regard to the form of the equations of motion which they produce. To render the effects of intermittent contact and other transient phenomena as driven by a human haptic explorer, a model is needed which is computationally efficient yet can handle changing kinematic constraints neatly. Models in dependent and independent coordinates produced with the Newton-Euler, Lagrangian and Kane formalisms will each be examined in order to provide a vantage point from which an informed selection may be made from among the many tools now{\textquoteright} available in computational dynamics.",

author = "Gillespie, {R. Brent} and Colgate, {J. Edward}",

note = "Publisher Copyright: {\textcopyright} 1997 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control ; Conference date: 16-11-1997 Through 21-11-1997",

year = "1997",

doi = "10.1115/IMECE1997-0376",

language = "English (US)",

series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",

publisher = "American Society of Mechanical Engineers (ASME)",

pages = "45--54",

booktitle = "Dynamic Systems and Control",

}

Gillespie, RB & Colgate, JE 1997, A SURVEY OF MULTIBODY DYNAMICS FOR VIRTUAL ENVIRONMENTS. in Dynamic Systems and Control. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 1997-Q, American Society of Mechanical Engineers (ASME), pp. 45-54, ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control, Dallas, United States, 11/16/97. https://doi.org/10.1115/IMECE1997-0376

A SURVEY OF MULTIBODY DYNAMICS FOR VIRTUAL ENVIRONMENTS. / Gillespie, R. Brent; Colgate, J. Edward.
Dynamic Systems and Control. American Society of Mechanical Engineers (ASME), 1997. p. 45-54 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 1997-Q).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - The field of computational dynamics is surveyed, focusing on issues relevant to the construction of a general purpose simulator with haptic display. The various formalisms available for generating dynamical models will be examined with regard to the form of the equations of motion which they produce. To render the effects of intermittent contact and other transient phenomena as driven by a human haptic explorer, a model is needed which is computationally efficient yet can handle changing kinematic constraints neatly. Models in dependent and independent coordinates produced with the Newton-Euler, Lagrangian and Kane formalisms will each be examined in order to provide a vantage point from which an informed selection may be made from among the many tools now’ available in computational dynamics.

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A SURVEY OF MULTIBODY DYNAMICS FOR VIRTUAL ENVIRONMENTS

Abstract

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ASJC Scopus subject areas

Access to Document

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