Structure of Optimized Generalized Coordinates Partitioned Vectors for Holonomic and Non-holonomic Systems

Terze, Zdravko and Naudet, Joris (2010) Structure of Optimized Generalized Coordinates Partitioned Vectors for Holonomic and Non-holonomic Systems. = Structure of Optimized Generalized Coordinates Partitioned Vectors for Holonomic and Non-holonomic Systems. Multibody system dynamics, 24 (1). pp. 1-16. ISSN 1384-5640. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q2 (2010). Točan broj autora: 2.

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Abstract

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. In the paper, the optimized partitioning of generalized coordinates is revisited in the context of numerical forward dynamics of holonomic and non-holonomic multibody systems. After short presentation of 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. It is shown that, for holonomic systems, the vectors of optimally partitioned coordinates have the same structure for generalized positions and velocities. On the contrary, in the case of non-holonomic systems, the optimally partitioned coordinates generally differ at configuration and velocity level. The conclusions of the paper are illustrated within the framework of the presented numerical example.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): forward dynamics of constrained multibody systems; optimized partitioning of generalized coordinates; holonomic and non-holonomic mechanical systems; multibody systems on manifolds; differential-geometric modeling of multibody systems
Subjects: NATURAL SCIENCES > Mathematics
TECHNICAL SCIENCE > Mechanical Engineering
TECHNICAL SCIENCE > Aviation, rocket and space technology
Divisions: 1300 Department of Aeronautical Engineering > 1320 Chair of Aircraft Dynamics
Indexed in Web of Science: Yes
Indexed in Current Contents: Yes
Citations JCR: 6 (29.6.2015.)
Quartiles: Q2 (2010)
Citations SCOPUS: 7 (29.6.2015.)
Date Deposited: 29 Jun 2015 11:02
Last Modified: 25 Aug 2015 11:29
URI: http://repozitorij.fsb.hr/id/eprint/4384

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