Abstract
Dynamics is the study of how forces affect the motion of rigid bodies. In this chapter we introduce the fundamental topics required to derive the dynamic equations for rigid bodies with the results obtained in the previous chapters on rigid body kinematics as a starting point. In this way we obtain a well-defined formulation of the dynamics without singularities and other artifacts. The formulation can be used to derive the dynamics of bodies with different configuration spaces, i.e., both flat Euclidean spaces and non-Euclidean configuration spaces on manifolds. The equations are well suited for simulation and controller design.
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From, P.J., Gravdahl, J.T., Pettersen, K.Y. (2014). Rigid Body Dynamics. In: Vehicle-Manipulator Systems. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-4471-5463-1_6
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DOI: https://doi.org/10.1007/978-1-4471-5463-1_6
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