Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach

DOI10.1115/1.3173739zbMath0676.70009OpenAlexW2013775620MaRDI QIDQ3832097

F. M. L. Amirouche, S. K. Ider

Publication date: 1988

Published in: Journal of Applied Mechanics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3173739

zbMATH Keywords

Kane's equationsconstraint Jacobian matrixGaussian row operationsnull space of a rectangular matrix

Mathematics Subject Classification ID

(n)-body problems (70F10)

Related Items (15)

Modelling, simulation and control of a redundant parallel robotic manipulator based on invariant manifolds ⋮ Comparison of solution strategies for multibody dynamics equations ⋮ On the constraints violation in forward dynamics of multibody systems ⋮ Analytic solution for planar indeterminate impact problems using an energy constraint ⋮ Stability analysis of constraints in flexible multibody systems dynamics ⋮ A natural absolute coordinate formulation for the kinematic and dynamic analysis of rigid multibody systems ⋮ Singularity-free simulation of closed-loop multibody systems by using null space of Jacobian matrix ⋮ Inverse dynamics of redundant manipulators using a minimum number of control forces ⋮ An accelerated iterative method for the dynamics of constrained multibody systems ⋮ Modeling three-dimensional surface-to-surface rigid contact and impact ⋮ Stability analysis of constrained multibody systems ⋮ Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System ⋮ Hybrid force and motion control of robots with flexible links ⋮ Trajectory Control of Serial and Parallel Flexible Manipulators Using Model Inversion ⋮ A hybrid parallelizable low-order algorithm for dynamics of multi-rigid-body systems. I: Chain systems.

This page was built for publication: Coordinate Reduction in the Dynamics of Constrained Multibody Systems—A New Approach