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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Multibody dynamics with redundant constraints and singular mass matrix: existence, uniqueness, and determination of solutions for accelerations and constraint forces
TL;DR: In this paper, the Lagrange equations of the first kind, the null space method and the Maggi equations are considered for determining the constraint forces in the case of redundant constraints.
Journal ArticleDOI
Rolled-out Wordles: A Heuristic Method for Overlap Removal of 2D Data Representatives
TL;DR: A simple algorithm is presented which modifies the (Mani‐) Wordle idea with scan‐line based techniques to allow a better placement and preserves the overall shape better than known techniques and allows a good trade‐off between the other measures.
Proceedings ArticleDOI
Linear constraints for deformable non-uniform B-spline surfaces
George Celniker,William Welch +1 more
TL;DR: A method for preserving a set of geometric constraints while interactively sculpting a free-form Bspline surface and formulate a quadratic deformation energy in terms of this basis, applicable to any linearly blended surface.
Proceedings Article
Control of an object with parallel surfaces by a pair of finger robots without object sensing
TL;DR: In this paper, a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots is proposed, which can achieve stable grasping, relative orientation control, and relative position control of the grasped object.
Journal ArticleDOI
Modeling and simulation of joint clearance effects on mechanisms having rigid and flexible links
Selçuk Erkaya,İbrahim Uzmay +1 more
TL;DR: In this paper, the kinematic and dynamic characteristics of a planar four-bar mechanism with joint clearance and link flexibility are investigated, assuming that joint clearance as a virtual massless link is developed at crank-coupler and coupler-follower joints.
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.