Presentation
A Versatile Quaternion-Based Constrained Rigid Body Dynamics
SessionRigid Bodies & Contacts
DescriptionWe present an implicitly-integrated, quaternion-based constrained Rigid Body Dynamics (RBD) that guarantees satisfaction of kinematic constraints, unifying the solution strategy for complex mechanical systems with arbitrary kinematic structures, by navigating subspaces spanned by constraint forces and torques for systems with redundant constraints, over actuation, and passive degrees of freedom.
Event Type
Technical Paper
TimeThursday, 14 August 20252:10pm - 2:20pm PDT
LocationWest Building, Rooms 118-120
ACM Digital Library
Journal Papers' PDFs
Conference Papers' PDFs
Conference Papers' PDFs
Session Time & Location
Sunday, 10 August 20256:00pm - 8:45pm PDTWest Building, Ballroom AB
Thursday, 14 August 20252:00pm - 3:30pm PDTWest Building, Rooms 118-120
Research & Education
Not Livestreamed
Not Recorded
Full Conference
Virtual Access
Thursday
