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    An Object-Oriented Architecture for the Simulation of Rigid-Body Kinematics

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    Date
    1993
    Author
    George, Geoff
    Guenter, Brian K.
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    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.
    URI
    http://hdl.handle.net/1853/3631
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