A Survey of Multibody Dynamics for Virtual Environments
2
R. Brent Gillespie
J. Edward Colgate
Proceedings of the ASME International Mechanical Engineering Congress and Exhibition
1997 ASME
http://lims.mech.northwestern.edu/brent-lib/imece97/imece97.ps
The field of computational dynamics is surveyed, focusing on issues
relevant to the construction of a general purpose simulator with
haptic display.  The various formalisms available for generating
dynamical models will be examined with regard to the form of the
equations of motion which they produce.  To render the effects of
intermittent contact and other transient phenomena as driven by a
human haptic explorer, a model is needed which is computationally
efficient yet can handle changing kinematic constraints neatly.
Models in dependent and independent coordinates produced with the
Newton-Euler, Lagrange and Kane formalisms will each be examined in
order to provide a vantage point from which an informed selection may
be made from among the many tools now available in computational
dynamics.