Recursive inverse dynamics sensitivity analysis of open-tree-type multibody systems

Forward Dynamics of Multibody Systems: A Recursive Hamiltonian Approach

The increase in processing power and the theoretical breakthroughs achieved in multibody systems dynamics have improved the usefulness of dynamic simulations to such an extent that the development of a whole range of applications has been triggered. Dynamic simulations are used for the analysis of mechanisms, virtual prototyping, simulators, computer animation, advanced control, etc. and are ga...

Recursive Dynamics Algorithm for Multibody Systems with Prescribed Motion

This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multi...

Dynamics of Multibody Systems

Computing Sensitivity Analysis of Vehicle Dynamics Based on Multibody Models

Vehicle dynamics simulation based on multibody dynamics techniques has become a powerful tool for vehicle systems analysis and design. As this approach evolves, more and more details are required to increase the accuracy of the simulations, to improve their efficiency, or to provide more information that will allow various types of analyses. One very important direction is the optimization of m...

Sensitivity Analysis of Multibody Dynamics Using Spatial Operators

This paper discusses an approach for sensitivity analysis of multibody dynamics using spatial operators. The spatial operators are rooted in the function space approach to estimation theory developed in the decades that followed the introduction of the Kalman filter. The operators provide a mathematical framework for studying a wide range of analytical and computational problems associated with...