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 has investigated the influence of the method of pseudoinverse computation on the dynamic simulation of an overconstrained linkage. Finally, it has been proposed that a new dynamic equation which explicitly computes accelerations also in the case of mathematical models with rank deficient Jacobian and mass matrices.

De Falco, D., Pennestri', E., Vita, L. (2009). Investigation of the influence of pseudoinverse matrix calculations on multibody dynamics simulations by means of the udwadia-kalaba formulation. JOURNAL OF AEROSPACE ENGINEERING, 22(4), 365-372 [10.1061/(ASCE)0893-1321(2009)22:4(365)].

Investigation of the influence of pseudoinverse matrix calculations on multibody dynamics simulations by means of the udwadia-kalaba formulation

PENNESTRI', ETTORE;
2009-01-01

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 has investigated the influence of the method of pseudoinverse computation on the dynamic simulation of an overconstrained linkage. Finally, it has been proposed that a new dynamic equation which explicitly computes accelerations also in the case of mathematical models with rank deficient Jacobian and mass matrices.
2009
Pubblicato
Rilevanza internazionale
Articolo
Sì, ma tipo non specificato
Settore ING-IND/05 - IMPIANTI E SISTEMI AEROSPAZIALI
English
Con Impact Factor ISI
aerospace engineering; computation; matrix methods; simulation
De Falco, D., Pennestri', E., Vita, L. (2009). Investigation of the influence of pseudoinverse matrix calculations on multibody dynamics simulations by means of the udwadia-kalaba formulation. JOURNAL OF AEROSPACE ENGINEERING, 22(4), 365-372 [10.1061/(ASCE)0893-1321(2009)22:4(365)].
De Falco, D; Pennestri', E; Vita, L
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/8081
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