Geometric numerical integration algorithms for articulated multi-body systems

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 4, Issue , 2004, Pages 3803-3808

  Park, Jonghoon ^a   Chung, Wan Kyun ^a   Youm, Youngil ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; APPROXIMATION THEORY; COMPUTATIONAL GEOMETRY; COMPUTER SIMULATION; DIFFERENTIAL EQUATIONS; EQUATIONS OF MOTION; RUNGE KUTTA METHODS;

GEOMETRIC NUMERICAL INTEGRATION; MULTI-BODY SYSTEMS; MUNTHE-KAAS METHOD; RIGID BODY KINEMATICS;

ROBOTICS;

EID: 14044278849     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. R. Featherstone, Robot Dynamics Algorithms. Kluwer Academic Publishers, 1987.
2. K. W. Lilly, Efficient Dynamic Simulation of Robotic Mechanisms. Kluwer Academic Publishers, 1993.
3. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. CRC Press, Inc., 1994.
4. V. S. Varadarajan, Lie Groups, Lie Algebras, and Their Representations. Springer-Verlag, 1984.
5. E. J. Haug, Intermediate Dynamics. Prentice-Hall, 1992.
6. P. E. Crouch and R. Grossman, "Numerical integration of ordinary differential equations on manifolds," Journal of Nonlinear Science, vol. 3, pp. 1-33, 1993.
7. H. Munthe-Kaas, "High order runge-kutta methods on manifolds," Applied Numerical Mathematics, vol. 29, no. 1, pp. 115-127, 1999.
8. A. Iserles, H. Z. Munthe-Kaas, S. P. Norsett, and A. Zanna, "Lie-group methods," Acta Numerica, pp. 215-365, 2000.
9. J. C. Simo and K. K. Wong, "Unconditionally stable algorithms for rigid body dynamics that exactly preserve energy and momentum," International Journal for Numerical Methods in Engineering, vol. 31, pp. 19-52, 1991.
10. J. E. Marsden and M. West, "Discrete mechanics and variational integrators," Acta Numerica, pp. 357-514, 2001.
11. L. O. Jay, "Structure preservation for constrained dynamics with super partitioned additive runge-kutta methods," SIAM Journal on Scientific Computing, vol. 20, no. 2, pp. 416-446, 1998.
12. E. Hairer, C. Lubich, and G. Wanner, Geometric Numerical Integration: Structure-Preserving Algorithms for Ordinary Differential Equations. Springer, 2002.
13. B. Owren and A. Marthinsen, "Runge-kutta methods adapted to manifolds and based on rigid frames," BIT, vol. 39, pp. 116-142, 1999.
14. Z. Jackiewicz, A. Marthinsen, and B. Owren, "Construction of runge-kutta methods of crouch-grossman type of high order," Advanced in Computational Mathematics, vol. 13, no. 4, pp. 405-415, 2000.
15. J. Park, "Principle of dynamical balance for multibody systems," Multibody System Dynamics, 2004, accepted.
16. D. T. Greenwood, Principles of Dynamics. Prentice-Hall Inc., 1988.
17. E. Hairer, S. P. Norsett, and G. Wanner, Solving Ordinary Differential Equations I: Nonstiff Problems, S. Revised, Ed. Springer-Verlag, 1993.