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Proceedings Paper

Dual velocity graphs in spatial kinematics
Author(s): George Baciu
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Paper Abstract

This article introduces a high-level topological representation for general multibody systems, the spatial directed graph. This simplified topological structure emphasizes the principal aspects of motion in multilink systems and forms a concise representation for the entire class of kinematically constrained multibody systems. It is shown that certain kinematic invariants with respect to this representation allow the simple formulation of kinematic constraints. In this context, it is observed that the only variables that are amenable to an operational algebra associated with this graph are the dual velocities. This formalism represents the starting point for the automatic generation of motion equations for generic multibody systems with applications in motion animation, virtual reality, robotics.

Paper Details

Date Published: 22 March 1996
PDF: 8 pages
Proc. SPIE 2644, Fourth International Conference on Computer-Aided Design and Computer Graphics, (22 March 1996); doi: 10.1117/12.235585
Show Author Affiliations
George Baciu, Hong Kong Univ. of Science and Technology (Hong Kong)


Published in SPIE Proceedings Vol. 2644:
Fourth International Conference on Computer-Aided Design and Computer Graphics
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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