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Numerical Solution of Constrained Systems Using Jet Spaces

[+] Author Affiliations
Jukka Tuomela, Villesamuli Normi

University of Joensuu, Joensuu, Finland

Teijo Arponen

Helsinki University of Technology, TKK, Finland

Paper No. DETC2007-34478, pp. 615-622; 8 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


The major difficulty in simulations of constrained systems is how to avoid drift off and spurious oscillations. We describe results obtained by our method which addresses these issues. Our computational model considers differential equations in jet spaces. In case of multibody systems we use Lagrangian formalism to derive the equations of motion. Constraints and possible invariants (like conservation of energy) are taken into account by restricting the dynamics to an appropriate submanifold of a jet space. We will consider only holonomic constraints in this paper. However, nonholonomic problems can also be formulated and solved with our method.

Copyright © 2007 by ASME
Topics: Space



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