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Titel:

Linear-Time Variational Integrators in Maximal Coordinates

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
J. Brüdigam and Z. Manchester
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...     »
Stichworte:
Discrete Mechanics, Variational Integrators, Dynamics, Maximal Coordinates, Computer Animation & Simulation
Kongress- / Buchtitel:
Workshop on the Algorithmic Foundations of Robotics (WAFR)
Datum der Konferenz:
21.06.2021 - 23.06.2021
Jahr:
2020
Reviewed:
ja
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