A novel method is presented to solve the equations of motion for a large class of constrained and unconstrained dynamical systems. Given an analytic expression for the system mass matrix, quasivelocity equations of motion are derived in a manner that generates equations analogous to the dynamics/kinematics partitioning in Eulerian rigid body dynamics. This separation is accomplished by introducing a new quasivelocity vector η which yields a dynamical system with an identity mass matrix. The problem of inverting a complex mass matrix is replaced by the problem of solving two first-order differential equations for the mass matrix eigenfactors. Dynamic constraint equations are incorporated directly into the new η differential equation, forgoing any need to solve the algebraic constraint equations simultaneously with the differential equations of motion.


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    Title :

    An Instantaneous Eigenstructure Quasivelocity Formulation for Nonlinear Multibody Dynamics


    Additional title:

    J of Astronaut Sci


    Contributors:

    Published in:

    Publication date :

    1997-09-01


    Size :

    17 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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