Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge

Dependent Coordinates and Related Constraints Equations.- Kinematic Analysis.- Dynamic Analysis: Mass Matrices and External Forces.-Dynamic Analysis: Equations of Motion.- Static Equilibrium Position and Inverse Dynamics.- Numerical Integration of the Equations of Motion.- Improved Formulations for Real Time Dynamics. Linearized Dynamic Analysis.- Special Topics.-Forward Dynamics of Flexible Systems.- Inverse Dynamics of Flexible Multibodies.