Formulation of Equations of Motion for Systems Subject to Constraints

DOI10.1115/1.3169070MaRDI QIDQ3687773zbMATH OpenOpenAlexFDO

Authors Charles W. Wampler, Keith W. Buffinton, J. Shu-Hui

Publication date 1985

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

Full work available at URL https://doi.org/10.1115/1.3169070

zbMATH Keywords

numerical integrationconstrained systemsroboticsd'Alembert's principleKane's equations of motion

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cited in

(18)

• On the equations of motion for systems with nonideal constraints
• Using the fundamental equation of constrained motion with inequality constraints
• Maggi's equations of motion and the determination of constraint reactions
• Adding kinematic constraints to purely differential dynamics
• scientific article; zbMATH DE number 742649 (Why is no real title available?)
• A recursive formulation for flexible multibody dynamics. II: Closed loop systems
• Dynamical equations of constrained robotic devices
• Stability analysis of constrained multibody systems
• Constrained multibody system dynamics an automated approach
• Formulation of the Governing Equations of Motion of Dynamic Systems on a Principal Bundle
• Dynamics of a spacecraft with large flexible appendage constrained by multi-strut passive damper
• An improved formulation for constrained mechanical systems
• Nonminimal Kane's equations of motion for multibody dynamical systems subject to nonlinear nonholonomic constraints
• Stability analysis of constraints in flexible multibody systems dynamics
• Experimental evaluation of motion constraint equations
• Closed-form time derivatives of the equations of motion of rigid body systems
• On-line symbolic constraint embedding for simulation of hybrid dynamical systems
• An orthonormal tangent space method for constrained multibody systems

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