Equations of Motion for Rigid Multibody Systems (Equations du Mouvement de Systemes a Plusieurs Corps Solides),
NATIONAL RESEARCH COUNCIL OF CANADA OTTAWA (ONTARIO) DIV OF MECHANICAL ENGINEERING
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Several computer-oriented methods for the formulation of the equations of motion for multibody systems with tree structure and also with closed chains are presented in a unified manner. They all stem from the same basic set of equations which are regarded as arising out of the stationary point condition of a quadratic programming QP problem. Using QP theory it is shown that the various methods are just different ways of solving the Lagrangian system of equations.
- Theoretical Mathematics