Numerical integration scheme to reduce the errors in the satisfaction of constrained dynamic equation

作者：Rahmatalla Salam; Lee Eun Taik; Eun Hee Chang^*

来源：Journal of Mechanical Science and Technology, 2013, 27(4): 941-949.

DOI：10.1007/s12206-013-0205-9

• Constraint
• Constraint force
• Dynamic equation
• Inertia force
• Nonlinear dynamic system
• Multibody system

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.

• 出版日期2013-4