A constraint violation suppressing formulation for spatial multibody dynamics with singular mass matrix
作者： Jie Zhang , Donghuan Liu , Yinghua Liu
DOI: 10.1007/S11044-015-9458-7
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摘要: … The constraint violation problem of spatial multibody systems is analyzed in this paper. The mass matrix is singular in the equations of motion when the Euler parameters with the …
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