Stability analysis of constrained multibody systems

DOI10.1007/BF00350416MaRDI QIDQ753512zbMATH OpenOpenAlexFDO

Authors S. K. Ider, F. M. L. Amirouche

Publication date 1990

Published in Computational Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf00350416

zbMATH Keywords

dynamic analysisAutomated algorithmsconstraint Jacobian matrixsimulation of constrained multibody systemsthree-link robotic manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

Recommendations

• Stability analysis of constraints in flexible multibody systems dynamics
• Numerical stability of the constraints near singular positions in the dynamics of multibody systems
• Singularity-free simulation of closed-loop multibody systems by using null space of Jacobian matrix
• On the Constraint Violations in the Dynamic Simulations of Multibody Systems
• Stabilization methods for the integration of DAE in the presence of redundant constraints

Cites work

• scientific article; zbMATH DE number 4085102 (Why is no real title available?)
• Automatic elimination of the undetermined multipliers in Kane's equations using a Pseudo Uptriangular Decomposition (PUTD) method
• Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach
• Dynamics of Constrained Multibody Systems
• Formulation of Equations of Motion for Complex Spacecraft
• Formulation of Equations of Motion for Systems Subject to Constraints
• Multibody structural dynamics including translation between the bodies
• On the equivalence of Kane's equations and Gibbs' equations for multibody dynamics formulations
• Singular Value Decomposition for Constrained Dynamical Systems
• Stabilization of constraints and integrals of motion in dynamical systems

Cited in

(14)

• Regularization of constraint singularities in multibody systems
• Numerical methods of closed-loop multibody systems with singular configurations based on the geometrical structure of constraints
• A self-stabilized algorithm for enforcing constraints in multibody systems.
• Projection continuation for minimal coordinate set formulation and singularity detection of redundantly constrained system dynamics
• On the Constraint Violations in the Dynamic Simulations of Multibody Systems
• Stability analysis of constraints in flexible multibody systems dynamics
• Simulation of constraints by compliant joints
• Inverse dynamics of redundant manipulators using a minimum number of control forces
• Numerical stability of the constraints near singular positions in the dynamics of multibody systems
• Stability analysis and Lyapunov exponents of a multi-body mechanical system with rigid unilateral constraints
• A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates
• Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix
• scientific article; zbMATH DE number 939838 (Why is no real title available?)
• State and energy stabilization in multibody system simulations

This page was built for publication: Stability analysis of constrained multibody systems

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q753512)