Numerical integration scheme to reduce the errors in the satisfaction of constrained dynamic equation |
| |
Authors: | Salam Rahmatalla Eun-Taik Lee Hee-Chang Eun |
| |
Affiliation: | 1205. Department of Civil and Environmental Engineering, The University of Iowa, Iowa, USA 2205. Department of Architectural Engineering, Chung-Ang University, Seoul, Korea 3205. Faculty of Architectural Engineering, Kangwon National University, Chuncheon, Korea
|
| |
Abstract: | Assuming that the existence of the constraints yields the change of the inertia force, this study derives the time-varying mass matrix for describing the constrained dynamic equation. It is displayed that the results corresponds with the ones by Udwadia and Kalaba. The numerical results obtained by integrating the constrained dynamic equation of second-order differential equations yield the errors in the satisfaction of the constraints. Modifying the derived dynamic equation this study presents a numerical algorithm to reduce the errors and to compute more precise motion. It is illustrated that the proposed method can be more precisely utilized in constrained mechanical systems through two applications of constrained nonlinear robotic systems. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|