Open AccessNonlinear dynamics and control of multibody systems
Author(s) -
Fernando A. Rochinha,
Rubens Sampaio
Publication year - 2000
Publication title -
revista brasileira de ciências mecânicas
Language(s) - English
Resource type - Journals
ISSN - 0100-7386
DOI - 10.1590/s0100-73862000000300008
Subject(s) - multibody system , nonlinear system , mechanical system , control theory (sociology) , dynamics (music) , computer science , control engineering , connection (principal bundle) , control (management) , engineering , classical mechanics , physics , mechanical engineering , artificial intelligence , quantum mechanics , acoustics
The dynamics of flexible systems, such as robot manipulators , mechanical chains or multibody systems in general, is becoming increasingly important in engineering. This article deals with some nonlinearities that arise in the study of dynamics and control of multibody systems in connection to large rotations. Specifically, a numerical scheme that adresses the conservation of fundamental constants is presented in order to analyse the control-structure interaction problems