Naslov
Solving Differential Equations on Manifolds–Modeling and Numerical Integration

Autori
Terze, Zdravko

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, neobjavljeni rad, znanstveni

Izvornik
NUMAP-OpenFoam 2011 / - , 2011

Skup
Numerical Methods in Applied Physics, NUMAP-OpenFoam 2011

Mjesto i datum
Zagreb, Hrvatska, 31.08.2011. - 14.09.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Numerical methods; geometric integration; Lie groups; ODE on manifolds

Sažetak
The paper reviews issues of geometric modeling of dynamics of discrete mechanical systems with the special focus on mathematical models and numerical procedures for computational forward dynamics of multibody systems with holonomic and non-holonomic kinematical constraints. 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 relations pertinent to geometric formulations and integration of multibody system dynamics are surveyed. Dynamical model of unconstrained multibody systems on manifolds are introduced, along with the outline of geometric characteristics of holonomic and non-holonomic kinematical constraints. Time integration numerical algorithms for constrained multibody systems in the form of ODE on manifolds, expressed in the local integration coordinates, as well as DAE systems via redundant coordinates, are reviewed.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA