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- W2038538640 abstract "This article introduces a high-level topological representation for general multibody systems, the spatial directed graph. This simplified topological structure emphasizes the principal aspects of motion in multilink systems and forms a concise representation for the entire class of kinematically constrained multibody systems. It is shown that certain kinematic invariants with respect to this representation allow the simple formulation of kinematic constraints. In this context, it is observed that the only variables that are amenable to an operational algebra associated with this graph are the dual velocities. This formalism represents the starting point for the automatic generation of motion equations for generic multibody systems with applications in motion animation, virtual reality, robotics.© (1996) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only." @default.
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- W2038538640 date "1996-03-22" @default.
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- W2038538640 title "<title>Dual velocity graphs in spatial kinematics</title>" @default.
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- W2038538640 doi "https://doi.org/10.1117/12.235585" @default.
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