Another Multibody Dynamics in Natural Coordinates through Automatic Differentiation and High-Index DAE Solving
Keyword(s):
The Natural Coordinates (NCs) method for Lagrangian modelling and simulation of multi-body systems is valued for giving simple, sparse models. We describe our version of it (NPNCs) and compare with the classical ap- proach of Jalón and Bayo (JBNCs). NPNCs use the high-index differential- algebraic equation solver DAETS. Algorithmic differentiation, not symbolic algebra, forms the equations of motion from the Lagrangian. NPNCs give significantly smaller equation systems than JBNCs, at the cost of a non- constant mass matrix for fully 3D models—a minor downside in the DAETS context. A 2D and a 3D example are presented, with numerical results.
2011 ◽
Vol 7
(1)
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2018 ◽
Vol 14
(4)
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pp. 152-157
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2009 ◽
Vol 223
(8)
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pp. 1755-1766
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2013 ◽
Vol 9
(2)
◽
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1992 ◽
Vol 07
(28)
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pp. 7169-7184
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