Table of Contents
Projective Articulated Dynamics
Overview
Motivation
What Is a Screw?
Screw Representations
Twists and Wrenches
Twist as a Screw
Wrench as a Screw
Spatial Transformations
Spatial Inertia
Power and Energy
Planar Screws
Overview
Velocity Kinematics
Acceleration Kinematics
Free Body Diagram
Newton-Euler Equations of Motion
Overview
Planar Homogeneous Coordinates
Alternative Coordinates
Planar Twists and Wrenches
Planar Mapping
Inertia Mappings
Power Relationships
Overview
Arbitrary Decomposition
Basic Decomposition
Pseudo-Inverse Decomposition
Subspaces
Component Projections
Inertia Decomposition
Mobility Decomposition
Projected Accelerations
Projected Forces
Planar Example
Overview
Articulated Inertia Concept
Articulated Inertia Recursion
Articulated Mobility Concept
Articulated Mobility Recursion
Articulated Equations of Motion
Recursive Accelerations
Recursive Forces
Planar Articulated Example
Spatial Example
Chain Splitting
Overview
Open Tree Structures
Contacts Between Bodies
Planar Constrained Example
Overview
Conclusions
Future Work
Acknowledgments
Questions ?
Screw Cylindroid
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