Samin, Jean-Claude
[UCL]
Willems, PY.
The paper presents an original approach for solving kinematical problems related to constraints, in particular those appearing in multibody systems with loops. This approach uses linear combinations of the time derivatives of the constraints in order to construct a pseudo-gradient which can be computed from straight forward kinematical considerations. Moreover, this method permits avoiding numerical convergence toward undesired solutions.
Référence bibliographique |
Samin, Jean-Claude ; Willems, PY.. Multibody Systems With Loops - a Pseudo-constraint Approach. In: Journal of Dynamic Systems, Measurement and Control, Vol. 115, no. 1, p. 208-213 (1993) |
Permalien |
http://hdl.handle.net/2078.1/49796 |