engleski

Numerical Integration Algorithm in Lie-Group Setting for Dynamics of Mechanical Systems

Design of the numerical integration methods that operate on manifolds and Lie-groups, instead of linear vector spaces like 'standard' ODE and DAE integrators, offer some attractive features such as numerical robustness and avoidance of the kinematical singularities as well as numerical efficiency of the code. The possibility of using global rotational coordinates for kinematic definition of the system certainly appeals for numerous applications. The additional motivation for taking this approach can be based on the fact that computational geometric formulation provides integration schemes that can preserve global characteristics of motion (such as conservation of the first integrals) in 'more naturally' manner than 'classical' methods that operate in the vector spaces.

Lie-groups; Multibody Systems Dynamics; Numerical Integration Methods; DAE systems; Constraint Violation Stabilization; Manifolds; Munthe-Kaas method

nije evidentirano