Is There an Optimal Choice of Configuration Space for Lie Group (CROSBI ID 602862)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mueller, Andreas ; Terze, Zdravko
engleski
Is There an Optimal Choice of Configuration Space for Lie Group
Recently various numerical integration schemes have been proposed for numerically simulating the dynamics of constrained multibody systems (MBS) operating. These integration schemes operate directly on the MBS configuration space considered as a Lie group. For discrete spatial mechanical systems there are two Lie group that can be used as configuration space: SE (3) and SO(3)xR3. Since the performance of the numerical integration scheme clearly depends on the underlying configuration space it is important to analyze the effect of using either variant. For constrained MBS a crucial aspect is the constraint satisfaction. In this paper the constraint violation observed for the two variants are investigated. It is concluded that the SE (3) formulation outperforms the SO(3)×R3 formulation if the absolute motions of the rigid bodies, as part of a constrained MBS, belong to a motion subgroup. In all other cases both formulations are equivalent. In the latter cases the SO(3)×R3 formulation should be used since the SE (3) formulation is numerically more complex, however.
Constrained multibody systems; Lie group integration; screw systems
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Podaci o prilogu
2013.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2013)
Portland (ME):
Podaci o skupu
The ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2013)
predavanje
04.08.2013-07.08.2013
Portland (OR), Sjedinjene Američke Države