NDLI: Constrained multibody systems: graph-theoretic Newton-Euler formulation

Content Provider	IEEE Xplore Digital Library
Author	Baciu, G. Chou, J.C.K. Kesavan, H.K.
Copyright Year	1971
Abstract	With the aid of graph theory it is possible to combine the topological information of a constrained rigid-body system with the mathematical formulation of the equations of motion in a direct, systematic, and consistent procedural fashion that lends itself to a straightforward computer implementation. Such a graph-theoretical formulation for the dynamics analysis and simulation of three-dimensional constrained rigid-body systems is presented. It is shown that through the graph-theoretic approach, the topological information contributes directly to the systematic formulation procedure and also to an efficient, directly implementable computer algorithm. This algorithm can be implemented in a recursive fashion that reduces the computational cost substantially. The main components of the numerical procedure can be traced back directly to the system graphs of the formulation phase with very little effort. The resulting system of differential equations is left in its implicit form and solved numerically.<>
Starting Page	1025
Ending Page	1048
Page Count	24
File Size	1982760
File Format	PDF
ISSN	00189472
Volume Number	20
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-09-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Equations Computational modeling Power system modeling Mathematical model Graph theory Analytical models Mechanical systems Topology Constraint theory
Content Type	Text
Resource Type	Article
Subject	Engineering

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