Kinematics and Dynamics

One of the most challenging tasks in simulation systems is the generation and coordination of efficient and accurate kinematics and dynamic solutions. Kinematic and dynamic algorithms are an essential multi-discipline resources in robotics, medical analysis and even video games. The mathematics for kinematics and dynamics range from simple trajectory based positions to that of fully articulated rigid body mechanics. We explain a variety of concepts from articulated structures all the way through to inverse dynamics. We also discuss implementation details for use in simulation environments (including core mathematics and geometric principles, like vectors, cross product, and the plane equation). This textbook is designed to introduce the reader to the exciting topic of kinematics and dynamics in virtual environments from a practical perspective. Organized around the central concept of controlled motion, the book includes numerous practical examples in the body of the text as well as explaining technical limitations and engineering solutions. It is also one of the purposes of this book to introduce the reader to the development aspect of kinematics and dynamics and not just the theoretical aspect.