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Multibody Systems

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Dynamics of Underactuated Multibody Systems

Part of the book series: Solid Mechanics and Its Applications ((SMIA,volume 205))

Abstract

In this chapter, the fundamentals of modeling and generation of the equation of motion using the Newton-Euler formalism is presented for rigid multibody systems. Its extension to flexible multibody systems using the floating frame of reference approach is also discussed. Thereby, the given presentation concentrates on a descriptive approach in order to derive the equation of motion in minimal form. This approach provides the equation of motion in symbolic or semi-symbolic form which is especially helpful for real-time simulations, optimizations and nonlinear control design.

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Authors and Affiliations

  1. Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70563, Stuttgart, Germany

    Robert Seifried

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  1. Robert Seifried
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Seifried, R. (2014). Multibody Systems. In: Dynamics of Underactuated Multibody Systems. Solid Mechanics and Its Applications, vol 205. Springer, Cham. https://doi.org/10.1007/978-3-319-01228-5_2

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  • DOI: https://doi.org/10.1007/978-3-319-01228-5_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-01227-8

  • Online ISBN: 978-3-319-01228-5

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