## Multibody Simulation - 2011 |
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Multibody Simulation is an undergraduate course offered annually at Örebro University.

In this course we are going to focus on modeling and simulation of the behavior of robotic manipulator systems. Students will deal with robot manipulator kinematics and dynamics. We are going to discuss ways to describe the state of a system, rigid body motion, kinematic constraints, as well as alternative methods for the formulation and solution of the equations of motion. The main simulation environment will be Matlab (and Simulink). The course will finish with a final project, where each student will develop a simulator (in Matlab or C++) for the dynamic behavior of a n-link open-loop manipulator. Grades will be based on the quality of the simulator and an oral examination.

- intro - introductory lecture [31.Aug] (3.2 Mb., movies are not included)
- basic_LA_review - linear algebra - review [02.Sep]
- RB_position - rigid body position [09.Sep]
- RB_velocity - rigid body velocity [14.Sep]
- MB_position - multibody systems (position) [16.Sep]
- review session - FGM, IGM, using bMSd [23.Sep]
- MB_velocity - multibody systems (velocity) [28.Sep]
- Jacobian - the Jacobian matrix (a tool for analysis) [30.Sep]
- RB_dynamics - dynamics of a single rigid body
- MB_dynamics_EL - dynamics of a multibody system (Euler-Lagrange)
- MB_dynamics_NE - dynamics of a multibody system (Newton-Euler)
- Trajectory - joint trajectory (Cubic_spline)

- Lab_01 - introduction to simulation with Matlab/Simulink [07.Sep]
- Lab_02 - rigid body position [14.Sep] (solution)
- Lab_03 - multibody systems (position) [21.Sep]
- Lab_03 (example) - see example_Lab_03.m, plot_chain.m, model_bMSd.m [28.Sep]
- Lab_04 - Jacobian matrix, IGM [05.Oct]
- Lab_05 - manipulator inertia matrix
- Lab_06 - Newton-Euler formulation

- multibody simulator
- bMSd - support notes
- define_extract_bMSd_model.zip

- points3D.m
- T_matrices.m
- path_EE.m
- example_Lab_03.m
- plot_chain.m
- model_bMSd.m
- mbs_report_form.zip
- rotate_3D_box.m
- planar2dof.m
- model_planar_system_n.m
- ABB IRB 140