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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
J. Brüdigam and Z. Manchester 
Title:
Linear-Time Variational Integrators in Maximal Coordinates 
Abstract:
Most dynamic simulation tools parameterize the configuration of multi-body robotic systems using minimal coordinates, also called generalized or joint coordinates. However, maximal-coordinate approaches have several advantages over minimal-coordinate parameterizations, including native handling of closed kinematic loops and nonholonomic constraints. This paper describes a linear-time variational integrator that is formulated in maximal coordinates. Due to its variational formulation, the algorit...    »
 
Keywords:
Discrete Mechanics, Variational Integrators, Dynamics, Maximal Coordinates, Computer Animation & Simulation 
Book / Congress title:
Workshop on the Algorithmic Foundations of Robotics (WAFR) 
Date of congress:
21.06.2021 - 23.06.2021 
Year:
2020 
Reviewed:
ja