Differential-geometric characteristics of optimized generalized coordinates partitioned vectors for holonomic and non-holonomic multibody systems

Terze, Zdravko and Matijašević, Dubravko and Vrdoljak, Milan and Koroman, Vladimir (2010) Differential-geometric characteristics of optimized generalized coordinates partitioned vectors for holonomic and non-holonomic multibody systems. = Differential-geometric characteristics of optimized generalized coordinates partitioned vectors for holonomic and non-holonomic multibody systems. In: 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009, 30.08-02.09. 2009., San Diego, CA; United States.

[img]
Preview
Text
Dummy article.pdf - Draft Version Jezik dokumenta:English

Download (79kB) | Preview
Official URL: http://www.scopus.com/inward/record.url?eid=2-s2.0...

Abstract

Differential-geometric characteristics and structure of optimized generalized coordinates partitioned vectors for generally constrained multibody systems are discussed. Generalized coordinates partitioning is well-known procedure that can be applied in the framework of numerical integration of DAE systems. However, although the procedure proves to be a very useful tool, it is known that an optimization algorithm for coordinates partitioning is needed to obtain the best performance. After short presentation of differential-geometric background of optimized coordinates partitioning, the structure of optimally partitioned vectors is discussed on the basis of gradient analysis of separate constraint sub-manifolds at configuration and velocity level when holonomic and non-holonomic constraints are present in the system. While, in the case of holonomic systems, the vectors of optimally partitioned coordinates have the same structure for generalized positions and velocities, when non-holonomic constraints are present in the system, the optimally partitioned coordinates generally differ at configuration and velocity level and separate partitioned procedure has to be applied. The conclusions of the paper are illustrated within the framework of the presented numerical example. Copyright © 2009 by ASME.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): Constrained multibody systems; DAE systems; Generalized coordinates; Geometric characteristics; Gradient analysis; Holonomic system; Multi Body Systems; Non holonomic constraint; Nonholonomics; Numerical example; Numerical integrations; Optimization algorithms; Geometry; Integration; Vectors; Optimization
Subjects: TECHNICAL SCIENCE
Divisions: 1300 Department of Aeronautical Engineering > 1320 Chair of Aircraft Dynamics
Indexed in Web of Science: No
Indexed in Current Contents: No
Citations SCOPUS: 0 (14.4.2015.)
Date Deposited: 14 Apr 2015 08:27
Last Modified: 14 Apr 2015 08:27
URI: http://repozitorij.fsb.hr/id/eprint/3681

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year

Nema podataka za dohvacanje citata