Explicit momentum conserving algorithms for rigid body dynamics

Explicit Momentum Conserving Algorithms for Rigid Body Dynamics

Two new explicit time integration algorithms are presented for solving the equations of motion of rigid body dynamics that identically preserve angular momentum in the absence of applied torques. This is achieved by expressing the equations of motion in conservation form. Both algorithms also eliminate the need for computing the angular acceleration. The first algorithm employs a one-pass predi...

Explicit Momentum-conserving Integrator for Dynamics of Rigid Bodies Approximating the Midpoint Lie Algorithm

The focus of this work is the initial value problem of the rotational rigid body dynamics. Often the calculation of forcing (evaluation of the external torques) is computationally intensive. For instance, in many molecular dynamics simulations, the evaluation of the forcing may take as much as 90% or more of the CPU time. Consequently, methods that limit the number of evaluations of the externa...

RBDL: an efficient rigid-body dynamics library using recursive algorithms

This is a preprint of Martin L. Felis, RBDL an Efficient Rigid-Body Dynamics Library using Recursive Algorithms, Autonomous Robots, 2016, DOI 10.1007/s10514-016-9574-0. The final version is available from: http://link.springer.com/article/10.1007/s10514-016-9574-0. Abstract In our research we use rigid-body dynamics and optimal control methods to generate 3-D wholebody walking motions. For the ...

Momentum conserving Brownian dynamics propagator for complex soft matter fluids.

We present a Galilean invariant, momentum conserving first order Brownian dynamics scheme for coarse-grained simulations of highly frictional soft matter systems. Friction forces are taken to be with respect to moving background material. The motion of the background material is described by locally averaged velocities in the neighborhood of the dissolved coarse coordinates. The velocity variab...

Title : Rigid body dynamics