Abstract
For a wide class of mechanical systems, so-called multibody systems, there are highly developed methods for the automatic generation of the corresponding equations of motion. As these equations can be stated in various, equivalent forms the question which of these forms are best suited for numerical treatment has become an important topic of research in computational mechanics.
The discrete versions of these formulations lead to nonlinear algebraic equations, which, in the presence of truncation error and rounding errors, are not equivalent. In this paper a general framework for comparing these alternative formulations will be given based on identifying with each a certain generalized solution of an overdetermined set of algebraic equations.
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Führer, C., Leimkuhler, B. (1990). A New Class of Generalized Inverses for the Solution of Discretized Euler — Lagrange Equations. In: Haug, E.J., Deyo, R.C. (eds) Real-Time Integration Methods for Mechanical System Simulation. NATO ASI Series, vol 69. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76159-1_8
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DOI: https://doi.org/10.1007/978-3-642-76159-1_8
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