A state-space dynamical representation for multibody mechanical systems. I: Systems with tree configuration (Q761058)

The second author and \textit{J. Wittenburg} [Proc. 3rd Congr. IFAC, Vol. 1, Book 3, Paper 46D, London: Butterworth (1966)] developed a formalism for digital simulation of multibody mechanical systems (the computer programs based on this and other formalisms permit the integration of the equations of motion of complex mechanical systems, which deal with many technical problems). In this paper the authors review extensively this formalism and illustrate how to obtain, within this framework, the state space equations of motion for systems with tree configuration. They give also the relations for the determination of generalized constraint forces.