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dc.contributor.authorGeorge, Geoff
dc.contributor.authorGuenter, Brian K.
dc.date.accessioned2004-11-24T15:46:19Z
dc.date.available2004-11-24T15:46:19Z
dc.date.issued1993
dc.identifier.urihttp://hdl.handle.net/1853/3631
dc.description.abstractKinematic 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.extent39798 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technologyen
dc.relation.ispartofseriesGVU Technical Report;GIT-GVU-93-21
dc.subjectKinematic simulationen
dc.subjectNewton-Raphson procedureen
dc.subjectVirtualen
dc.subjectObject-oriented designen
dc.subjectEiffelen
dc.titleAn Object-Oriented Architecture for the Simulation of Rigid-Body Kinematicsen
dc.typeTechnical Reporten


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