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Discrete Mechanical Systems: Projective Constraint Violation Stabilization Method for Numerical Forward Dynamics on Manifolds

[+] Author Affiliations
Zdravko Terze

University of Zagreb, Zagreb, Croatia

Joris Naudet

Vrije Universiteit Brussel, Brussels, Belgium

Paper No. DETC2007-35466, pp. 667-675; 9 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


During numerical forward dynamics of discrete mechanical systems with constraints, a numerical violation of system kinematical constraints is the basic source of time-integration errors and frequent difficulty that analyst has to cope with. The stabilized time-integration procedure, whose stabilization step is based on projection of the integration results to the underlying constraint manifold via post-integration correction of the selected coordinates, is proposed in the paper. After discussing optimization of the partitioning algorithm, the geometric and stabilization issues of the method are addressed and it is shown that the projective stabilization algorithm can be applied for numerical stabilization of holonomic and non-holonomic constraints in Pfaffian and general form. As a continuation of the previous work, a further elaboration of the projective stabilization method applied on non-holonomic discrete mechanical systems is reported in the paper and numerical example is provided.

Copyright © 2007 by ASME



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