The Absolute Nodal Coordinate Formulation (ANCF) was used to model the dynamics in the Human-robot cooperation for flexible beam handling project.
View ANCF demonstration code using the online IPython notebook viewer http://nbviewer.jupyter.org/url/www.torsteinmyhre.name/snippets/ancf/ancf.ipynb
A second IPython notebook http://nbviewer.jupyter.org/url/www.torsteinmyhre.name/snippets/ancf/ancf-simulation.ipynb presents a dynamic simulation of an ANCF beam.
