engleski

Singularity-free non-redundant time integration of multibody systems models in absolute coordinate formulation

In this paper a non-redundant and singularity- free integration of MBS models described in terms of non-redundant screw coordinates as well as redundant dual quaternions is presented exploiting the isomorphism of the screw algebra and the algebra of dual quaternions. Numerical simulations show are presented that confirm the performance of the method.

Multibody system ; Lie Groups

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