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Angular momentum conserving integration scheme for multibody system dynamics in lie-group setting (CROSBI ID 230059)

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Terze, Zdravko ; Mueller, Andreas ; Zlatar, Dario Angular momentum conserving integration scheme for multibody system dynamics in lie-group setting // Annual ... of the Croatian Academy of Engineering, 2016 (2016), 385-391

Podaci o odgovornosti

Terze, Zdravko ; Mueller, Andreas ; Zlatar, Dario

engleski

Angular momentum conserving integration scheme for multibody system dynamics in lie-group setting

In many engineering applications, such as satellite dynamics or various case-studies of the specific locomotion patterns in mechatronics and biomechanics, motion integrals of the system need to be conserved during numerical integration in order to reflect global physical properties of the analyzed motion. Derivation of such integration schemes in Lie-group settings should be especially numerically efficient since Lie-group dynamical models operate directly on SO(3) rotational group, avoiding local rotation parameters, and allowing for design of structure-preserving algorithms that respect underlying manifolds of the system dynamics. In this paper, angular momentum conserving integration scheme for rigid body rotational dynamics, based on the rotational group coadjoint action, is presented and tested through the case-study of freely spinning rigid body.

Lie-groups ; numerical integration methods ; DAE systems ; Angular Momentum Conservation ; constraint violation stabilization

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Podaci o izdanju

2016

2016.

385-391

objavljeno

1332-3482

Povezanost rada

Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika, Matematika

Poveznice