Multibody dynamics with redundant constraints and singular mass matrix: existence, uniqueness, and determination of solutions for accelerations and constraint forces

DOI10.1007/S11044-013-9358-7zbMath1274.70010OpenAlexW1973479199MaRDI QIDQ375154

J. García de Jalón, M. D. Gutiérrez-López

Publication date: 28 October 2013

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-013-9358-7

zbMATH Keywords

existence and uniqueness of solutionsminimum norm solutionconstraint forcesoverdetermined multibody systemsredundant constraintssingular mass matrix

Mathematics Subject Classification ID

Constrained dynamics, Dirac's theory of constraints (70H45) Dynamics of multibody systems (70E55)

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Uses Software

• MBSSIM

Cites Work

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• Multibody system simulation. Numerical methods, algorithms, and software
• Stabilization of DAEs and invariant manifolds
• Stabilization of constraints and integrals of motion in dynamical systems
• Numerical solution of saddle point problems
• Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics
• Extrapolation integrators for constrained multibody systems

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