Title:
An Object-Oriented Architecture for the Simulation of Rigid-Body Kinematics
An Object-Oriented Architecture for the Simulation of Rigid-Body Kinematics
| dc.contributor.author | George, Geoff | |
| dc.contributor.author | Guenter, Brian K. | |
| dc.date.accessioned | 2004-11-24T15:46:19Z | |
| dc.date.available | 2004-11-24T15:46:19Z | |
| dc.date.issued | 1993 | |
| dc.description.abstract | Kinematic simulation involves finding simultaneous zeros for a set of functions representing mechanical linkages which constrain the positions and orientations of a set of bodies. Evaluation of these functions, and of their Jacobians with respect to the positions and orientations of the bodies, is sufficient to allow the use of a multidimensional Newton-Raphson procedure to solve the kinematic constraint equations. An abstraction comprising such a function and its Jacobian may be implemented as a virtual class in an object-oriented language, yielding a software architecture embodying benefits of object-oriented design and implementation: abstraction, encapsulation, extensibility and reusability. An implementation in Eiffel is described. | en |
| dc.format.extent | 39798 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1853/3631 | |
| dc.language.iso | en_US | |
| dc.publisher | Georgia Institute of Technology | en |
| dc.relation.ispartofseries | GVU Technical Report;GIT-GVU-93-21 | |
| dc.subject | Kinematic simulation | en |
| dc.subject | Newton-Raphson procedure | en |
| dc.subject | Virtual | en |
| dc.subject | Object-oriented design | en |
| dc.subject | Eiffel | en |
| dc.title | An Object-Oriented Architecture for the Simulation of Rigid-Body Kinematics | en |
| dc.type | Text | |
| dc.type.genre | Technical Report | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | GVU Center | |
| local.relation.ispartofseries | GVU Technical Report Series | |
| relation.isOrgUnitOfPublication | d5666874-cf8d-45f6-8017-3781c955500f | |
| relation.isSeriesOfPublication | a13d1649-8f8b-4a59-9dec-d602fa26bc32 |