Abstract
The combined use of linear graph theory and symbolic computing leads to efficient dynamic models of multibody systems that facilitate real-time simulations. Graph theory allows the selection of coordinates that best suit a given problem, resulting in relatively simple and compact equations of motion. Special topologies, e.g. those for parallel robots, can be exploited using graph theory, which also facilitates the modelling of multibody and mechatronic systems using subsystem models.
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