This paper presents a new approach to the numerical solution of boundary value problems for higher index diierential algebraic equations. Invariants known for the original DAE as well as invariants of the reduced index 1 formulation are exploited to stabilize initial value problem integration, derivative generation and nonlinear and linear systems solution of an enhanced multiple shooting metho...

Besides preserving the energy, the ow of a conservative multibody system possesses important geometric (symplectic) invariants. Symplectic discretization schemes that mimic the corresponding feature of the true ow have been shown to be eeective alternatives to standard methods for many conservative problems. For systems of rigid bodies, the development of such schemes can be complicated or cost...

This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is reviewed with respect to multiplier and minimization approaches. Subsequently, the operational space framework is considered and the underlying symmetry between constrained dynamics and ope...

The numerical simulation of multibody dynamics often involves constraints of various forms. First of all, we present a structure preserving integrator for mechanical systems with holonomic (bilateral) and unilateral contact constraints, the latter being in the form of a non-penetration condition. The scheme is based on a discrete variant of Hamilton’s principle in which both the discrete trajec...

Abstract. The problem of imposing the reference conditions in a floating frame formulation is coupled with necessity to reduce interfaces virtual nodes required define multibody joints. Two methods are implemented for rigid and interpolation multipoint constraints, condition matrix derived employing all interface dofs. case study slider-crank mechanism discussed show how different sets can modi...

Elastic multibody systems arise in the simulation of vehicles, robots, air-and spacecrafts. After semidiscretization in space, a partitioned diierential-algebraic system of index 3 with large stiiness terms has to be solved. We investigate the behavior of numerical methods for stii ODEs and DAEs at this problem class and show that strong order reductions may occur. Examples from structural dyna...