A New Method of Stabilization for Holonomic Constraints

DOI10.1115/1.3167159MaRDI QIDQ3318160zbMATH OpenOpenAlexFDO

Authors J. Baumgarte

Publication date 1983

Published in Journal of Applied Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3167159

zbMATH Keywords

asymptotic stabilizationelimination of instability produced by error propagationmomentum constraints stabilizationnonclassical Lagrangian multipliers

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Holonomic systems related to the dynamics of a system of particles (70F20) Lagrange's equations (70H03)

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• A Novel Kinematic Model for Rough Terrain Robots
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• Constraint stabilization and one-step correction method for dynamical systems
• Constructing time integration with controllable errors for constrained mechanical systems
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• An efficient high-precision recursive dynamic algorithm for closed-loop multibody systems
• Eliminating constraint drift in the numerical simulation of constrained dynamical systems
• The adjustment-stabilization method for constrained systems
• Orthogonal complement based divide-and-conquer algorithm for constrained multibody systems
• A symplectic algorithm for dynamics of rigid body

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