Journal ArticleDOI
Stabilization of constraints and integrals of motion in dynamical systems
J. Baumgarte,J. Baumgarte +1 more
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In this article, it is shown how the analytical relations can be satisfied in a stabilized manner in order to improve the numerical accuracy of the solution of the differential equations, which leads to a modified differential system which is often stable in the sense of Ljapunov.About:
This article is published in Computer Methods in Applied Mechanics and Engineering.The article was published on 1972-06-01. It has received 1429 citations till now. The article focuses on the topics: Numerical partial differential equations & Delay differential equation.read more
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Proceedings ArticleDOI
Hyper redundant manipulator using compound three-bar linkages
TL;DR: In this article, the forward and inverse kinematics of a hyper redundant manipulator (HRM) with 12 CTL units are presented. And the method and the simulation of the dynamical analysis are also presented.
Journal Article
Undesidered drift of multibody models excited by measured accelerations or forces
TL;DR: In this paper, the authors describe the sources of these effects and show that, due to missing knowledge about the true trajectory of the vehicle, this problem cannot be solved by an improved numerical treatment of the underlying equations.
Proceedings ArticleDOI
Verification of a Constraint Force Equation Methodology for Modeling Multi-Body Stage Separation
Paul V. Tartabini,Carlos M. Roithmayr,Matthew D. Toniolo,Christopher D. Karlgaard,Bandu N. Pamadi +4 more
Abstract: This paper discusses the verification of the Constraint Force Equation (CFE) methodology and its implementation in the Program to Optimize Simulated Trajectories II (POST2) for multibody separation problems using three specially designed test cases. The first test case involves two rigid bodies connected by a fixed joint; the second case involves two rigid bodies connected with a universal joint; and the third test case is that of Mach 7 separation of the Hyper-X vehicle. For the first two cases, the POST2/CFE solutions compared well with those obtained using industry standard benchmark codes, namely AUTOLEV and ADAMS. For the Hyper-X case, the POST2/CFE solutions were in reasonable agreement with the flight test data. The CFE implementation in POST2 facilitates the analysis and simulation of stage separation as an integral part of POST2 for seamless end-to-end simulations of launch vehicle trajectories.
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Validating Robotics Simulators on Real-World Impacts
TL;DR: In this article , the authors evaluate the ability of several simulation tools to reproduce real-world trajectories involving impacts, and identify system-specific contact parameters of popular simulators such as Drake, MuJoCo, and Bullet.
Manipulation of 2D object with arbitrary shape by robot finger under rolling constraint
TL;DR: In this article, the contact of two contours of a pinched object and a robot finger tip with arbitrary shape is expressed in terms of differential geometry, and a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object.
References
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Journal ArticleDOI
Numerical stabilization of the differential equations of Keplerian motion
J. Baumgarte,J. Baumgarte +1 more
TL;DR: In this article, a stabilization of the classical equations of two-body motion is offered, characterized by the use of the regularizing independent variable (eccentric anomaly) and by the addition of a control-term to the differential equations.