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RISReducing the Constrained Multibody Dynamics Problem to the Solution of a System of Ordinary Differential Equations Via Velocity Partitioning and Lie Group Integration
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In multibody dynamics, formulating the equations of motion in absolute Cartesian coordinates results in a set of index-3 differential algebraic equations (DAEs). In this work, we present an approach that bypasses the DAE ...