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The Multibody Dynamics Simulation Engine
Dynawiz is the main dynamics program and it operates as follows:
 | It solves the equations of motion for a given model file. These are the Lagrange Euler equations for a multibody system. Algebraic constraints are added should constraints invoving mechanical closed loop, gears, contact, or directional pointing are involved . |
| It issues motion data over each integration step such as position and rate data to the control module which returns hinge torque and forces to actuate the plant dynamics . |
| It outputs user selected data (i.e. kinematic, force, marker motion data, system angular momentum etc...) to a plot data file at user specified sample rate. |
| It generates a list of .m files to view the simulation results using Matlab with ease.. |