MULTIBODY SYSTEMS WITH LOOPS - A PSEUDO-CONSTRAINT APPROACH

被引：0

作者：

SAMIN, JC

WILLEMS, PY

机构：

[1] Departement de Mecanique, Universite Catholique de Louvain, Louvain-la-Neuve

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1993年 / 115卷 / 01期

关键词：

D O I：

10.1115/1.2897402

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents an original approach for solving kinematical problems related to constraints, in particular those appearing in multibody systems with loops. This approach uses linear combinations of the time derivatives of the constraints in order to construct a pseudo-gradient which can be computed from straight forward kinematical considerations. Moreover, this method permits avoiding numerical convergence toward undesired solutions.

引用

页码：208 / 213

页数：6