most citedSingularity-Free Lie Group Integration and Geometrically Consistent Evaluation of Multibody System Models Described in Terms of Standard Absolute Coordinates

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cs.RO2026★ 6 cited

Singularity-Free Lie Group Integration and Geometrically Consistent Evaluation of Multibody System Models Described in Terms of Standard Absolute Coordinates

Andreas Mueller

A classical approach to the multibody systems (MBS) modeling is to use absolute coordinates, i.e., a set of (possibly redundant) coordinates that describe the absolute position and…