Survey of multibody dynamics for virtual environments

R. Brent Gillespie*, Ed Colgate

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations


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 languageEnglish (US)
Title of host publicationASME Dynamic Systems and Control Division
EditorsW.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al
Number of pages10
StatePublished - Dec 1 1997
EventProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA
Duration: Nov 16 1997Nov 21 1997


OtherProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
CityDallas, TX, USA

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering


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