Dynamics Algorithms for Multibody Systems

This paper presents dynamics algorithms for multibody systems using the concept of Decoupled Natural Orthogonal Comple- ment (DeNOC) matrices. For this, a multibody system is treated here as an open-loop serial-or tree-types. In fact, it is shown how the knowledge for a serial system can be extended to a tree-type system. The resulting equations are used to obtain recursive inverse and forward dynamics algorithms. The methodology is illustrated using a tree-type four Degree- Of-Freedom (DOF) robotic gripper and 100-DOF serial-type rope system. It will be shown how efficiency of the proposed algorithm will benefit as the DOF of a system becomes very large.

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