The formulation of the dynamic equations of motion proposed by Udwadia- Kalaba is discussed from the point of view of numerical efficiency. Since this formulation requires the computation of a pseudoinverse matrix, it is investigated the influence of the method of pseudoinverse computation on the dynamic simulation of an overconstrained linkage. Finally, it has been proposed a new dynamic equation which explicitly computes accelerations also in the case of mathematical models with rank deficient Jacobian and mass matrices.
An Investigation of the Influence of the Pseudoinverse Matrix Calculations on Multibody Dynamics Simulations by Means of the Udwadia-Kalaba Formulation
DE FALCO, Domenico
2010
Abstract
The formulation of the dynamic equations of motion proposed by Udwadia- Kalaba is discussed from the point of view of numerical efficiency. Since this formulation requires the computation of a pseudoinverse matrix, it is investigated the influence of the method of pseudoinverse computation on the dynamic simulation of an overconstrained linkage. Finally, it has been proposed a new dynamic equation which explicitly computes accelerations also in the case of mathematical models with rank deficient Jacobian and mass matrices.File in questo prodotto:
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