Abstract
Forward dynamics is the problem of finding the acceleration of a rigid-body system in response to given applied forces. It is used mainly for simulation; and it is sometimes called ‘direct dynamics’, or simply ‘dynamics’. In this chapter and the next, we examine the forward dynamics of kinematic trees. The dynamics of closed-loop systems is covered in Chapter 8.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer Science+Business Media, LLC
About this chapter
Cite this chapter
Featherstone, R. (2008). Forward Dynamics — Inertia Matrix Methods. In: Rigid Body Dynamics Algorithms. Springer, Boston, MA. https://doi.org/10.1007/978-1-4899-7560-7_6
Download citation
DOI: https://doi.org/10.1007/978-1-4899-7560-7_6
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-387-74314-1
Online ISBN: 978-1-4899-7560-7
eBook Packages: EngineeringEngineering (R0)