Credits: 3 (2-0-2)
Description
Overview of kinematic descriptions of serial, tree, and closed-loop chains, Degrees of freedom, and Kinematic constraints of rigid and flexible systems; Basics of Euler-Lagrange and other classical dynamic formulations, and those with orthogonal complements; Dynamic algorithms (inverse and forward dynamics); Efficiency and numerical stability aspects of the algorithms; Introduction to commercial software like RecurDyn.