The Moore-Penrose Inverse Approach to Modeling of Multibody Systems with Redundant Constraints

  • Marek WojtyraEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Applications of the Moore-Penrose inverse in modeling of overconstrained rigid multibody systems represented by index-1 DAEs are investigated. The problem of joint reaction as well as acceleration solution is examined – the uniqueness of accelerations and non-uniqueness of reactions is addressed. The problem of dependency of results on physical units selection is investigated. It is discussed which parts of the solution are and which are not physically equivalent after the change of units. A simple illustrative example is provided. Brief conclusions are formulated.


Redundant Constraints Solution Uniqueness Unit-dependent Results 


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This research was supported by the National Science Centre (Poland) grant no. 2018/29/B/ST8/00374.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Warsaw University of Technology, Faculty of Power and Aeronautical EngineeringInstitute of Aeronautics and Applied MechanicsWarsawPoland

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