Systematic Reduction of Dynamic Equations for Multi-Rigidbody Systems

Embedding constraint method is applied to perform velocity transformations. A set of relative joint coordinates is introduced in solving problems on dynamics of multi-rigidbody systems described with absolute Cartesian coordinates. The resultant dynamics modeling using both types of coordinates is then obtained. In this way the formulation of equations is straightforward and numerical solution is more efficiently performed. Finally, an illustrative example is given.