Abstract: In the case of complex multibody systems, an efficient and timesaving computation of the equations of motion is essential; in particular, concerning the inertia forces. When using the floating frame of reference formulation ...

Abstract: The present paper illustrates the potential of the adjoint method for a wide range of optimization problems in multibody dynamics such as inverse dynamics and parameter identification. Although the equations and matrices ...

Abstract: Within the framework of this article, we pursue a novel approach for the determination of time-optimal controls for dynamic systems under observance of end conditions. Such problems arise in robotics, e.g., if the control ...