On the Choice of Configuration Space for Numerical Lie Group Integration of Constrained Rigid Body Systems

Müller, Andreas and Terze, Zdravko On the Choice of Configuration Space for Numerical Lie Group Integration of Constrained Rigid Body Systems. = On the Choice of Configuration Space for Numerical Lie Group Integration of Constrained Rigid Body Systems. Journal of Computational and Applied Mathematics. ISSN 0377-0427. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. . Točan broj autora: 2. (In Press)

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Abstract

Standard integration schemes for multibody systems (MBS) neglect the interdependence of linear and angular velocity since positions and rotations are updated independently. This can be overcome with Lie group integrators using an appropriate configuration space. Two formulations are considered in the paper, one where SO(3) X R^3 is used as rigid body configuration space and another one where rigid body motions are properly modelled by the semidirect product SE(3) = SO(3) X �R^3. In this paper the implications of using the two representations on the performance of Munthe-Kaas integration schemes are investigated. The numerical results suggest that in certain cases the SE(3) representation yields optimal numerical performance.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	Lie group integration, rigid body dynamics, constrained multibody systems, screw systems, Munthe-Kaas integration scheme
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
Date Deposited:	22 Sep 2016 13:35
Last Modified:	22 Sep 2016 13:35
URI:	http://repozitorij.fsb.hr/id/eprint/6972

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