Constraint Stabilization and Regularization for Multibody Systems (CROSBI ID 561058)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mueller, Andreas ; Terze, Zdravko ; Koroman, Vladimir
engleski
Constraint Stabilization and Regularization for Multibody Systems
An important issue for the numerical forward dynamics simulation of constrained multibody systems (MBS) is the numerically stable treatment of constraints. In this regard two basic phenomena have been identified causing severe problems during the numerical simulation: the violation of constraints leading to a drift of the numerical solution, and the presence of redundant constraints impairing the constraint solution. This paper describes a constraint stabilization procedure that is based on the projection onto the underlying constraint manifold. Unlike the standard projection methods that rely on the Euclidean metric of the ambient space $R^n$, the correction step takes into account the geometry of the underlying configuration manifold embedded in $R^n$. Also a method for elimination of redundant closure constraint for MBS with kinematic loops is briefly outlined.
constraint stabilization procedure; multibody systems; numerical forward dynamics simulation
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Podaci o prilogu
1-4.
2010.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 1st European Space Agency Workshop on Multibody Dynamics for Space Applications
Noordwijk: European Space Agency
Podaci o skupu
1st European Space Agency Workshop on Multibody Dynamics for Space Applications
predavanje
02.02.2010-03.02.2010
Noordwijk, Nizozemska