Rigid Multibody Dynamics

In this chapter, we give an overview on the mathematical models for the dynamics of systems of rigid bodies. Depending on the choice of coordinates for the position and orientation of each body, the governing equations form either a system of ordinary differential equations or, if constraints are present, a system of differential-algebraic equations. We analyze the structure of these equations, discuss practical aspects, and present several examples. Since differential-algebraic equations are a recurrent theme in this book, we furthermore summarize their most important theoretical properties, which includes the index concept and alternative formulations for the equations of constrained mechanical motion.

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