IEEE - Institute of Electrical and Electronics Engineers, Inc. - Lagrangian dynamics of open multibody systems with generalized holonomic and nonholonomic joints

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): V. Duindam ; S. Stramigioli
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2007
Conference Location: San Diego, CA, USA
Conference Date: 29 October 2007
Page(s): 3,342 - 3,347
ISBN (CD): 978-1-4244-0912-9
ISBN (Paper): 978-1-4244-0911-2
DOI: 10.1109/IROS.2007.4399066
Regular:

Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to R". This limitation leads to singularities and other artifacts in case the configuration... View More

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