Real time simulation of complex 3-D multibody systems with realistic graphics
[For the entire collection see Zbl 0745.00048.] A method for kinematic and dynamic simulation of multibody problems using dependent fully Cartesian coordinates (``natural coordinates) is described. The general formulation based on these coordinates has the following advantages: constant mass matrix in the inertial reference frame, absence of velocity dependent inertia forces, simplicity of the constraint equations and simplicity of the Jacobian matrix. After several general purpose dynamic formulations an improved method for real time dynamic simulation is considered, with very good numerical efficiency. This method is based on the usual practice of removing constraints from the closed loops and gives much more opportunity for parallelization.
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