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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Terze, Zdravko Matijasˇevic´, Dubravko Vrdoljak, Milan Koroman, Vladimir |
| Copyright Year | 2009 |
| Abstract | Differential-geometric characteristics and structure of optimized generalized coordinates partitioned vectors for generally constrained multibody systems are discussed. Generalized coordinates partitioning is well-known procedure that can be applied in the framework of numerical integration of DAE systems. However, although the procedure proves to be a very useful tool, it is known that an optimization algorithm for coordinates partitioning is needed to obtain the best performance. After short presentation of differential-geometric background of optimized coordinates partitioning, the structure of optimally partitioned vectors is discussed on the basis of gradient analysis of separate constraint submanifolds at configuration and velocity level when holonomic and non-holonomic constraints are present in the system. While, in the case of holonomic systems, the vectors of optimally partitioned coordinates have the same structure for generalized positions and velocities, when non-holonomic constraints are present in the system, the optimally partitioned coordinates generally differ at configuration and velocity level and separate partitioned procedure has to be applied. The conclusions of the paper are illustrated within the framework of the presented numerical example. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 561 |
| Ending Page | 569 |
| Page Count | 9 |
| File Format | |
| ISBN | 9780791849019 |
| DOI | 10.1115/DETC2009-86849 |
| e-ISBN | 9780791838563 |
| Volume Number | Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C |
| Conference Proceedings | ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2009-08-30 |
| Publisher Place | San Diego, California, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Optimization algorithms Multibody systems |
| Content Type | Text |
| Resource Type | Article |
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