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Basic Mathematical Tasks in Multibody Dynamics

Multibody system analysis includes a number of different mathematical tasks and questions  [Pg.13]

Is the model reasonable Do the bodies penetrate each other  [Pg.13]

Given a robot and its hand position. How must the joint angles be chosen These questions lead to systems of nonlinear equations, which are normally solved by Newton s method, see Ch. 3. [Pg.13]

How must the forces be chosen such that the system is in equilibrium Mathematically, a nonlinear system of equations must be solved. This is done by using Newton s method, possibly together with a continuation method, see Ch. 3. [Pg.13]

This requires the numerical solution of explicit ordinary differential equations or differential-algebraic equations, see Chs. 4, 5, 6. [Pg.13]


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