Comparison of different methods to control constraints violation in forward multibody dynamics

Paulo Flores, Parviz E. Nikravesh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

The dynamic equations of motion for constrained multibody systems are frequently formulated using the Newton- Euler's approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. It is known that the standard resolution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general review of the main methods commonly used to control or eliminate the violation of the constraint equations in the context of multibody dynamics formulation is presented and discussed. Furthermore, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is also presented. The basic idea of this approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as function of the Moore-Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations.

Original languageEnglish (US)
Title of host publication9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791855966
DOIs
StatePublished - Jan 1 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume7 A

Other

OtherASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

Keywords

  • Augmented Lagrangian formulation
  • Baumgarte method
  • Constraints violation
  • Coordinate partitioning method
  • Direct correction
  • Multibody dynamics
  • Penalty approach

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Flores, P., & Nikravesh, P. E. (2013). Comparison of different methods to control constraints violation in forward multibody dynamics. In 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Proceedings of the ASME Design Engineering Technical Conference; Vol. 7 A). American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-12591