Naslov
Structure of Optimized Generalized Coordinates Partitioned Vectors for Holonomic and Non-holonomic Systems

Autori
Terze, Zdravko ; Naudet, Joris

Izvornik
Multibody system dynamics (1384-5640) 24 (2010), 2; 203-218

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
forward dynamics of constrained multibody systems ; optimized partitioning of generalized coordinates ; holonomic and non-holonomic mechanical systems ; multibody systems on manifolds ; differential-geometric modeling of multibody systems

Sažetak
Generalized coordinates partitioning is well-known procedure that can be applied in the framework of numerical integration of DAE systems. However, although the procedure proves to be a very useful tool, it is known that an optimization algorithm for coordinates partitioning is needed to obtain the best performance. In the paper, the optimized partitioning of generalized coordinates is revisited in the context of numerical forward dynamics of holonomic and non-holonomic multibody systems. After short presentation of geometric background of optimized coordinates partitioning, the structure of optimally partitioned vectors is discussed on the basis of gradient analysis of separate constraint sub-manifolds at configuration and velocity level when holonomic and non-holonomic constraints are present in the system. It is shown that, for holonomic systems, the vectors of optimally partitioned coordinates have the same structure for generalized positions and velocities. On the contrary, in the case of non-holonomic systems, the optimally partitioned coordinates generally differ at configuration and velocity level. The conclusions of the paper are illustrated within the framework of the presented numerical example.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

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