Survey of multibody dynamics for virtual environments

R. Brent Gillespie; Ed Colgate

Survey of multibody dynamics for virtual environments

R. Brent Gillespie^*, Ed Colgate

^*Corresponding author for this work

Mechanical Engineering

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

13 Scopus citations

Abstract

The field of computational dynamics is surveyed, focusing on issues relevant to the construction of a general purpose stimulator 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	ASME Dynamic Systems and Control Division
Editors	W.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al
Publisher	ASME
Pages	45-54
Number of pages	10
Volume	61
State	Published - Dec 1 1997
Event	Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA Duration: Nov 16 1997 → Nov 21 1997

Other

Other	Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
City	Dallas, TX, USA
Period	11/16/97 → 11/21/97

ASJC Scopus subject areas

Software
Mechanical Engineering

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AB - The field of computational dynamics is surveyed, focusing on issues relevant to the construction of a general purpose stimulator 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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Survey of multibody dynamics for virtual environments

Abstract

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ASJC Scopus subject areas

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