Is There an Optimal Choice of Configuration Space for Lie Group

Mueller, Andreas and Terze, Zdravko (2013) Is There an Optimal Choice of Configuration Space for Lie Group. = Is There an Optimal Choice of Configuration Space for Lie Group. In: The ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2013), 04-07.08.2013., Portland, Oregon.

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Abstract

Recently various numerical integration schemes have been proposed for numerically simulating the dynamics of constrained multibody systems (MBS) operating. These integration schemes operate directly on the MBS configuration space considered as a Lie group. For discrete spatial mechanical systems there are two Lie group that can be used as configuration space: SE (3) and SO(3)xR3. Since the performance of the numerical integration scheme clearly depends on the underlying configuration space it is important to analyze the effect of using either variant. For constrained MBS a crucial aspect is the constraint satisfaction. In this paper the constraint violation observed for the two variants are investigated. It is concluded that the SE (3) formulation outperforms the SO(3)×R3 formulation if the absolute motions of the rigid bodies, as part of a constrained MBS, belong to a motion subgroup. In all other cases both formulations are equivalent. In the latter cases the SO(3)×R3 formulation should be used since the SE (3) formulation is numerically more complex, however.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): Constrained multibody systems, Lie group integration, screw systems
Subjects: 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 13:46
Last Modified: 22 Sep 2016 13:46
URI: http://repozitorij.fsb.hr/id/eprint/6979

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