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Communication Dans Un Congrès Année : 2008

Matrix Formulation of Rigid Body Dynamics

Kossi Atchonouglo
  • Fonction : Auteur
  • PersonId : 847147
Dan Dumitriu
  • Fonction : Auteur
Tony Monnet

Résumé

The motion equations of a rigid body involve ten inertial characteristics: the mass, the mass center position and the inertia matrix. In order to identify these ten inertia characteristics, we propose an approach unifying them in a $4\times 4$ positive definite symmetric matrix. The translation vector and the rotation matrix of the rigid body are also gathered in a $4\times 4$ matrix. Therefore the motion equations are formulated as an equality between 4x4 skew-symmetric matrices: one representing the sum of external forces and torques, the second representing the dynamic force and torque. The identification is performed by a projected conjugate gradient algorithm developped in the 10-Dimensional linear space of 4x4 symmetric matrices.
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Dates et versions

hal-00288682 , version 1 (18-06-2008)

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  • HAL Id : hal-00288682 , version 1

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Kossi Atchonouglo, Dan Dumitriu, Tony Monnet, Claude Vallee. Matrix Formulation of Rigid Body Dynamics. 79th Annual Meeting of the International Association of Applied Mathematics and Mechanics, Apr 2008, Bremen, Germany. ⟨hal-00288682⟩

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