A Differentiable Null Space Method for Constrained Dynamic Analysis
- 1 September 1987
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 109 (3) , 405-411
- https://doi.org/10.1115/1.3258810
Abstract
A geometric approach to the solution of the dynamic response of constrained mechanical systems is proposed. A continuous and differentiable basis of the constraint null space is automatically generated using the Gram-Schmidt process. The independent coordinates are obtained by transforming the physical velocity coordinates to the tangent hyperplane of the constraint surface. As a result the independent coordinates lie on the constraint surface and no constraint violation control is necessary.Keywords
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