Singularity-free augmented Lagrangian algorithms for constrained multibody dynamics
DOI: 10.1007/BF00045677
关键词: Holonomic 、 Augmented Lagrangian method 、 Matrix (mathematics) 、 Differential equation 、 Gravitational singularity 、 Multibody system 、 Algorithm 、 Mathematics 、 Rank (linear algebra) 、 Jacobian matrix and determinant
摘要: … yet for the integration of multibody systems. A way to avoid the DAE is by differentiating the constraints. The resulting constraint violations are commonly stabilized using the method …
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