Multibody Kinematics and Dynamics


 Terminology and Notation
 Translating from the mathematics of multibody mechanics to correct code is a difficult process and requires careful discipline to ensure that the resulting code is correct.
 Multibody Dynamics Constraints
 This documentation describes the types of multibody constraints supported in Drake, including specialized constraint types- namely point-based contact constraints that allow Drake's constraint solver to readily incorporate the Coulomb friction model.
 Contact Modeling in Drake
 Drake is concerned with the simulation of physical phenomena, including contact between simulated objects.

Detailed Description