Derives physically meaningful transition conditions for topology switching events in variable-topology mechanisms using projected equations in redundant coordinates or Voronets equations in minimal coordinates.
Maggi: Da alcune nuove forma della equazioni della dinamica applicabile ai sistemi anolonomi
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Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation
Derives physically meaningful transition conditions for topology switching events in variable-topology mechanisms using projected equations in redundant coordinates or Voronets equations in minimal coordinates.