Constraint Stabilization for Rigid Bodies: an Extension of Baumgarte’s Method

  • Robert E. Roberson
Part of the International Union of Theoretical and Applied Mechanics book series (IUTAM)


A method of Baumgarte for the stabilization of mechanical constraints is extended to rotating bodies whose state is described by angular velocity variables and angle variables or Euler parameters. Computational results for several constraint situations are reported.


Constraint Equation Mechanical Constraint Constraint Stabilization Euler Parameter Constraint Situation 
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Copyright information

© Springer-Verlag, Berlin/Heidelberg 1978

Authors and Affiliations

  • Robert E. Roberson
    • 1
  1. 1.Dept. of Applied Mechanics and Engineering SciencesUniversity of California San DiegoLa JollaUSA

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