Simulating Rigid Body Dynamics

Newton-Euler equations of motion

Simulation of a single rigid body in a planar world

Simulation of two rigid bodies with a hinge in a planar world

Formulation using redundant coordinates (A)

Correcting joint drift in redundant coordinates

  • numerical integration errors will accumulate over time

  • introduce a virtual corrective force to combat drift

  • Simulation of a 5-link chain

  • consider a 5-link chain in 2D or 3D
  • Formulation using reduced coordinates (B)