RESEARCH PAPERS: Mechanisms Papers

State Space Characterization of Complex Rigid Body Systems Subject to Control

[+] Author and Article Information
M. A. Townsend

Department of Mechanical Engineering, University of Toronto, Toronto, Canada

J. Eng. Ind 95(2), 465-470 (May 01, 1973) (6 pages) doi:10.1115/1.3438178 History: Received June 22, 1972; Online July 15, 2010


The dynamic equations of systems of rigid bodies are developed as nonlinear, muti-variable control systems in state-space representations. This provides a unified treatment in terms of the general problem and indicates specific characteristics of coupled-body system equations which may be later exploited. A purpose of this paper is to provide a formulation for treating the optimal dynamic synthesis problems of general rigid and nonrigid body systems.

Copyright © 1973 by ASME
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