This course (5 Credits) provides an introduction to spatial (6D) vectors and their use in rigid-body dynamics. Topics
include: spatial motion and force; Plucker coordinates; coordinate transforms; differentiation; acceleration;
momentum; inertia; the equation of motion of a rigid body; motion constraints; and the three main
algorithms for rigid-body dynamics: the recursive Newton-Euler algorithm, the composite-rigid-body
algorithm and the articulated-body algorithm. The course is suitable for those who have never used a spatial
vector before, and will dwell on the geometry and physical meaning of these vectors before moving on to
their applications. There will be some practical exercises using Matlab, Simulink and the package
Spatial_v2.
- Docente: ROY FEATHERSTONE