Articulated systems & indep. generalized coordinates
Posted: Fri Nov 02, 2012 12:22 pm
Intro: When simulating (heavily) articulated systems, among all other circumstances and options to consider, one needs to decide whether to use a set of independent generalized coordinates or to go for a redundant set with explicitly stated inter-relations. This is a true statement, isn't it?
As far as I can tell (which is not that far, I'm afraid ) the solutions visible/available on the market (proprietary or open) seem to prefer the latter option (redundant set): is my observation correct?
Question: Could any of you better-informed-than-me either confirm the above or prove me wrong by providing examples? It would be of great help and will quite probably seriously influence my decision as to what I should do next .
Thanks.
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P.S. The background for this question is that I've been quite literally forced (university grant) to stick to independent coordinates (Featherstone-based formulations) and now, after quite some time of trying to wrap my head around it and provide a working implementation, I finally decided to look around and see if I'm anywhere near to what has actually been done in this field over last the past x years (wrong order of actions, now I know).
As far as I can tell (which is not that far, I'm afraid ) the solutions visible/available on the market (proprietary or open) seem to prefer the latter option (redundant set): is my observation correct?
Question: Could any of you better-informed-than-me either confirm the above or prove me wrong by providing examples? It would be of great help and will quite probably seriously influence my decision as to what I should do next .
Thanks.
--
P.S. The background for this question is that I've been quite literally forced (university grant) to stick to independent coordinates (Featherstone-based formulations) and now, after quite some time of trying to wrap my head around it and provide a working implementation, I finally decided to look around and see if I'm anywhere near to what has actually been done in this field over last the past x years (wrong order of actions, now I know).