Journal article
Numerical integration scheme to reduce the errors in the satisfaction of constrained dynamic equation
Journal of Mechanical Science and Technology, Vol.27(4), pp.941-949
04/2013
DOI: 10.1007/s12206-013-0205-9
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.
Details
- Title: Subtitle
- Numerical integration scheme to reduce the errors in the satisfaction of constrained dynamic equation
- Creators
- Salam Rahmatalla - Department of Civil and Environmental Engineering The University of Iowa Iowa USAEun-Taik Lee - Department of Architectural Engineering Chung-Ang University Seoul KoreaHee-Chang Eun - Faculty of Architectural Engineering Kangwon National University Chuncheon Korea
- Resource Type
- Journal article
- Publication Details
- Journal of Mechanical Science and Technology, Vol.27(4), pp.941-949
- DOI
- 10.1007/s12206-013-0205-9
- ISSN
- 1738-494X
- eISSN
- 1976-3824
- Publisher
- Korean Society of Mechanical Engineers; Heidelberg
- Language
- English
- Date published
- 04/2013
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Civil and Environmental Engineering; Injury Prevention Research Center
- Record Identifier
- 9983992068402771
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