Naslov
Geometric Mathematical Framework for Multibody System Dynamics

Autori
Terze, Zdravko ; Vrdoljak, Milan ; Zlatar, Dario

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Numerical Analysis and Applied Mathematics, ICNAAM 2010 / Simos, Theodore E. - New York (NY) : American Institute of Physics (AIP), 2010, 1288-1291

ISBN
978-0-7354-0831-9

Skup
International Conference on Numerical Analysis and Applied Mathematics 2010

Mjesto i datum
Rodos, Grčka, 19.09.2010. - 25.09.2010

Vrsta sudjelovanja
Pozvano predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Multibody systems; Holonomic and non-holonomic constraints; Lie groups; Manifolds; Numerical integration

Sažetak
The paper surveys geometric mathematical framework for computational modeling of multibody system dynamics. Starting with the configuration space of rigid body motion and analysis of it’s Lie group structure, the elements of respective Lie algebra are addressed and basic relations pertinent to geometrical formulations of multibody system dynamics are surveyed. Dynamical model of multibody system on manifold introduced, along with the outline of geometric characteristics of holonomic and non-holonomic kinematical constraints.

Izvorni jezik
Engleski

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

POVEZANOST RADA