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TitleKinematic analysis of multibody systems.
Author(s) Jukka Tuomela
TypeArticle in Journal
AbstractWe discuss how to use constructive methods in commutative algebra to study multibody systems. The main focus is in the kinematic analysis, i.e. the analysis of the geometry of the configuration space. We show how to define and compute the mobility of the system and study various singularities of the configuration space. We also discuss implications of this analysis for numerical computations.
Keywordsmultibody systems, Gröbner bases, mobility
ISSN0006-3835; 1572-9125/e
URL http://link.springer.com/article/10.1007%2Fs10543-008-0176-x
LanguageEnglish
JournalBIT
Volume48
Number2
Pages405--421
PublisherSpringer Netherlands, Dordrecht
Year2008
Edition0
Translation No
Refereed No
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