Multibody formalism for real-time application using natural coordinates and modified state space (Q884832)

A new formalism of multibody system based on natural coordinates and modified state space is proposed for real-time application. The complex systems with closed loops are described by differential-algebraic equations. The proposed formalism provides stable solutions without necessity of iterations, and consists of matrices with simple elements, which are suitable for massive parallelization. The resulting computational complexity depends only on the degrees of freedom despite any occurrence of kinematical loops. Two simulation examples are given.