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)

Abstract

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.

Keywords

Torque Assure 

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References

  1. 1.
    Baumgarte, J., “Stabilization of constraints and integrals of motion in dynamical systems, “Computer Methods in Appl. Mech. and Eng., 1 (1972), 1–16.MathSciNetMATHCrossRefGoogle Scholar
  2. 2.
    Baumgarte, J., “Numerical stabilization of the differential equations of Keplerian motion, “Celestial Mech., 5 (1972), 490–501.MathSciNetMATHCrossRefGoogle Scholar
  3. 3.
    Bulirsch, R. and J. Stoer, “Numerical treatment of ordinary differential equations by extrapolation methods, “Numerische Mathematik, 8 (1966), 1–13.MathSciNetMATHCrossRefGoogle Scholar

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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