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Energy‐momentum conserving integration of parallel manipulators
Author(s) -
Uhlar Stefan,
Betsch Peter
Publication year - 2007
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200700869
Subject(s) - nonholonomic system , numerical integration , multibody system , reduction (mathematics) , control theory (sociology) , degrees of freedom (physics and chemistry) , momentum (technical analysis) , angular momentum , computer science , classical mechanics , physics , mathematics , control (management) , mathematical analysis , robot , artificial intelligence , geometry , finance , quantum mechanics , economics , mobile robot
In the framework of a rotationless formulation for multibody systems, we present an investigation of multibody mechanisms. The benefit of this kind of formulation is the design of energy‐momentum conserving integration schemes, which facilitate a stable numerical integration of differential algebraic equations governing the motion of open‐loop and closed‐loop systems. We introduce a coordinate augmentation technique for the incorporation of rotational degrees of freedom and subsequently perform a size‐reduction to lower the computational costs and to improve the numerical conditioning [1]. Furthermore the treatment of nonholonomic constraints is addressed [3]. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)