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Rigid Body Dynamics Algorithms
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Table of Contents

Introduction.- Spatial Vector Algebra.- Dynamics of Rigid Body Systems.- Modelling Rigid Body Systems.- Inverse Dynamics.- Forward Dynamics - Inertia Matrix Methods.- Forward Dynamics - Propagation Methods.- Closed Loop Systems.- Hybrid Dynamics and Other Topics.- Accuracy and Efficiency.- Contact and Impact.

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From the reviews: "This book deals with a numerical treatment of different problems in the dynamics of rigid-body systems which arise mainly in robotics ... . is centered on mechanical models made up of many rigid bodies connected by joints. ... The book is written in a clear way. Each chapter begins by stating the objectives to be achieved. The algorithms presented are well documented and worked examples are also given. ... the bibliography close this useful book on the computational approach to the dynamics of rigid-body systems." (A. San Miguel, Mathematical Reviews, Issue 2011 h)

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