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Theoretical and Applied Mechanics, 2022, Volume 49, Issue 2, Pages 157–181
DOI: https://doi.org/10.2298/TAM221109011F (Mi tam120) 		 
This article is cited in 2 scientific papers (total in 2 papers)

Inverse dynamics in rigid body mechanics

Salvatore Federico, Mawafag F. Alhasadi

Department of Mechanical and Manufacturing Engineering, The University of Calgary, Calgary, Alberta, Canada
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DOI: https://doi.org/10.2298/TAM221109011F
Abstract: Inverse Dynamics is used to calculate the forces and moments in the joints of multibody systems investigated in fields such as Biomechanics or Robotics. In a didactic spirit, this paper begins with an overview of the derivations of the kinematical and dynamical equations of rigid bodies from the point of view of modern Continuum Mechanics. Then, it introduces a matrix formulation for the solution of Inverse Dynamics problems and, finally, reports a simple two-dimensional example of application to a problem in Biomechanics.
Keywords: rigid body mechanics, inverse dynamics, biomechanics, robotics.
Funding agency Grant number
Natural Sciences and Engineering Research Council of Canada (NSERC) RGPIN-2015-06027
ALLRP-571591-21
Alberta Innovates 212201535
This work was supported in part by the Natural Sciences and Engineering Research Council of Canada, through the NSERC Discovery Programme, grant number RGPIN-2015-06027 [SF], and the NSERC Alliance Programme, grant number ALLRP-571591-21 [SF], and by Alberta Innovates (Canada), through the Advance Programme, grant number 212201535 [SF].
Received: 09.11.2022
Revised: 08.12.2022
Document Type: Article
MSC: 70B10, 70E15, 92C10
Language: English
Citation: Salvatore Federico, Mawafag F. Alhasadi, “Inverse dynamics in rigid body mechanics”, Theor. Appl. Mech., 49:2 (2022), 157–181
Citation in format AMSBIB
\Bibitem{FedAlh22}
\by Salvatore~Federico, Mawafag~F.~Alhasadi
\paper Inverse dynamics in rigid body mechanics
\jour Theor. Appl. Mech.
\yr 2022
\vol 49
\issue 2
\pages 157--181
\mathnet{http://mi.mathnet.ru/tam120}
\crossref{https://doi.org/10.2298/TAM221109011F}
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  • https://www.mathnet.ru/eng/tam/v49/i2/p157
    • This publication is cited in the following 2 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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    		Theoretical and Applied Mechanics
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