Structure of optimized generalized coordinates partitioned vectors for holonomic and non-holonomic systems

DOI10.1007/S11044-010-9195-XMaRDI QIDQ606935zbMATH OpenOpenAlexFDO

Authors Zdravko Terze, Joris Naudet

Publication date 19 November 2010

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-010-9195-x

zbMATH Keywords

differential-geometric modeling of multibody systemsforward dynamics of constrained multibody systemsholonomic and non-holonomic mechanical systemsmultibody systems on manifoldsoptimized partitioning of generalized coordinates

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cites work

• A geometric unification of constrained system dynamics
• A projective criterion to the coordinate partitioning method for multibody dynamics
• Differential‐Algebraic Equations in Riemannian Spaces and Applications to Multibody System Dynamics
• Elimination of constraint violation and accuracy aspects in numerical simulation of multibody systems
• Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds
• scientific article; zbMATH DE number 2129143 (Why is no real title available?)
• scientific article; zbMATH DE number 3601149 (Why is no real title available?)
• scientific article; zbMATH DE number 1300852 (Why is no real title available?)
• Initial condition correction in multibody dynamics
• Multibody system dynamics: roots and perspectives
• Null-space integration method for constrained multibody systems with no constraint violation

Cited in

(9)

• Singularity-free simulation of closed-loop multibody systems by using null space of Jacobian matrix
• Numerical methods of closed-loop multibody systems with singular configurations based on the geometrical structure of constraints
• Generalized Lagrange's equations for systems with general constraints and distributed parameters
• Lie-group integration method for constrained multibody systems in state space
• A constraint violation suppressing formulation for spatial multibody dynamics with singular mass matrix
• On the constraints violation in forward dynamics of multibody systems
• Kronecker product and a new matrix form of Lagrangian equations with multipliers for constrained multibody systems
• Methods for constraint violation suppression in the numerical simulation of constrained multibody systems - A comparative study
• Numerical method for dynamics of multi-body systems with two-dimensional Coulomb dry friction and nonholonomic constraints

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