Dynamic Modeling using object-oriented programming
Ortiz, Jose L.
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A deep and detailed study of Kane's theory with comparisons to classical methods of analysis is presented. The work depicts the development of the equations of motion for both the holonomic and nonholonomic cases with complete 2-D and 3-D examples. The theory is then implemented for the case of systems of rigid bodies and two test examples (a planar mechanism and a spatial robot) are compared with solutions found by other authors. Due the importance of Object Oriented Programming, a brief description of the basic features of this paradigm is also presented.