Investigation of the Influence of Pseudoinverse Matrix Calculations on Multibody Dynamics Simulations by Means of the Udwadia-Kalaba Formulation
Publication: Journal of Aerospace Engineering
Volume 22, Issue 4
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.
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References
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Information
Published In
Journal of Aerospace Engineering
Volume 22 • Issue 4 • October 2009
Pages: 365 - 372
Copyright
© 2009 ASCE.
History
Received: Oct 15, 2007
Accepted: Mar 14, 2008
Published online: Sep 15, 2009
Published in print: Oct 2009
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