While the mass and rotational inertia of a body are the elemental quantities for studying single rigid body dynamics, the mass matrix plays the corresponding role for multibody systems. One crucial difference is that the mass matrix varies with the configuration of the system. In this chapter, we derive expressions for the mass matrix of a serial-chain multibody system, study its properties, and develop related computational algorithms.
KeywordsMass Matrix Multibody System Lagrangian Equation Rotational Inertia Lagrangian Approach
Unable to display preview. Download preview PDF.