Geometry, Kinematics and Dynamics of Multi-body Systems

  • Giacomo Marani
  • Junku Yuh
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 102)


The search for a mathematical model to accurately represent the physical behavior of a generic mechanical systems is the most important step in the development of simulation, identification and control.


  1. 1.
    Denavit J, Hartenberg RS (1955) A kinematic notation for lower-pair mechanisms based on matrices. Trans ASME E J Appl Mech 22:215–221MATHMathSciNetGoogle Scholar
  2. 2.
    McCarthy J (1990) An introduction to theoretical kinematics. MIT Press, Cambridge.
  3. 3.
    Goldstein H (1980) Classical mechanics, 2nd edn. Addison-Wesley, ReadingMATHGoogle Scholar
  4. 4.
    Olver P (2000) Applications of lie groups to differential equations. Graduate texts in mathematics. Springer, Berlin.
  5. 5.
    Kwatny H, Blankenship G (1995) Symbolic construction of models for multibody dynamics. IEEE Trans Robot Autom 11(2):271–281. doi: 10.1109/70.370509 Google Scholar
  6. 6.
    Meirovitch L (1970) Methods of analytical dynamics. Advanced engineering series. McGraw-Hill, New York.

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.West Virginia Robotic Technology CenterWest Virginia University Research CorporationFairmontUSA
  2. 2.National Agenda Research DivisionKorea Institute of Science and TechnologySeoulKorea

Personalised recommendations