Rigid Body Dynamics Algorithms

by Roy Featherstone

Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system
and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

281 pages, Hardcover

First published November 26, 2007

Reviews

[Zumra · Rating 5 out of 5]

Normally I don't add such "scientific" books here, but this book is so well-written and eases my years-long struggle with dynamics so much, I cannot stop myself reviewing it here with a full five star :) Thanks Featherstone!