Recursive dynamics of topological trees of rigid bodies via Kalman filtering and Bryson-Frazier smoothingThe inverse and forward dynamics problems for a set of rigid bodies connected by hinges to form a topological tree are solved by using recursive techniques from linear filtering and smoothing theory. An inward filtering sequence computes a set of constraint moments and forces. This is followed by an outward sequence to determine a corresponding set of angular and linear accelerations. An inward sequence begins at the tips of all of the terminal bodies of the tree and proceeds inwardly through all of the branches until it reaches the root. Similarly, an outward sequence begins at the root and propagates to all of the tree branches until it reaches the tips of the terminal bodies. The paper also provides an approach to evaluate recursively the composite multibody system inertia matrix and its inverse.
Document ID
19890024284
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Rodriguez, G. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)