Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
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DOI：
10.1007/978-1-4899-7560-7
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发表时间：
2007-11
期刊：
影响因子：
--
通讯作者：
R. Featherstone
中科院分区：
文献类型：
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作者：
R. Featherstone
刚体动力学算法通过空间6D矢量表示法呈现计算刚体动力学的主题。它解释了如何建模刚体系统以及如何分析它，并提供了在单个源中找到的最佳刚体动力学算法的最全面的集合。空间矢量符号的使用大大减少了代数的数量，使系统可以用更少的方程和更少的量来描述。它还允许在更少的步骤中解决问题，并更简洁地表达解决方案。此外，算法解释简单明了，并以紧凑的形式表示。空间矢量表示法的使用促进了在计算机上实现动力学算法：更短，更简单的代码，更容易编写，理解和调试，而不会损失效率。
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.