A projection continuation approach for minimal coordinate set constrained dynamics

Abstract The formulation of constrained system dynamics using coordinate projection onto a subspace locally tangent to the constraint manifold is revisited QR factorization Jacobian matrix extract suitable and integrating evolution along with that matrix, as solution evolves. A true continuation algorithm thus proposed track independent coordinates. It does not visibly affect quality but avoids artificial algorithmic irregularities or discontinuities in generalized velocities could otherwise result from arbitrary reparameterizations set. characteristics approach are exemplified by solving simple single- multi-degree-of-freedom problems.