Automatic elimination of the undetermined multipliers in Kane's equations using a Pseudo Uptriangular Decomposition (PUTD) method

DOI10.1016/0045-7949(87)90088-5zbMATH Open0642.70001OpenAlexW2083529911MaRDI QIDQ3783641FDOQ3783641

Authors: F. M. L. Amirouche, T. Jia 

Publication date: 1987

Published in: Computers & Structures (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0045-7949(87)90088-5

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zbMATH Keywords

multibody systemequations of motionGram-Schmidt processKane's equationsAppel principlepseudo uptriangular decomposition method

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55)

Cited In (7)

• Triangularization of equations of motion for robotic systems
• Motivating Kane's method for obtaining equations of motion for dynamic systems
• A highly redundant coordinate formulation for constrained rigid bodies
• Computerized kinematic and dynamic analysis of large deployable structures.
• Stability analysis of constrained multibody systems
• Kane’s Equations With Undetermined Multipliers—Application to Constrained Multibody Systems
• Pseudouptriangular decomposition method for constrained multibody systems using Kane's equations

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