Holonomic Spatial Multibody Systems

The kinematic and dynamic equations for spatial multibody systems with holonomic constraints are derived as extensions of the corresponding formulations for planar multibody systems. Essential differences arise from the spatial rotations of the bodies. Accordingly, the motion quantities of the bodies in space include the coordinates of the rotation with the associated kinematic differential equations. The equations of motion of holonomic spatial multibody systems are set up again in absolute coordinates as well as in minimal coordinates and minimal velocities.