Augmented Lagrangian formulation: Geometrical interpretation and application to systems with singularities and redundancy (Q697874)

The author discusses a novel procedure for studying constrained multibody system dynamics. The essence of the method is to use large artificial masses to resist motion in the constraint directions. Any small residual motion of these large masses is then eliminated by reaction forces. In essence, it is a relatively simple and rapidly converging iterative procedure. It is claimed to be applicable to systems having massless links redundant constraints. The paper is well-written and it should be accessible and of use to numerical analysts working with large constrained systems.