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- W3150331844 abstract "Abstract In a singular position, the number of degrees of freedom of a mechanism instantaneously increases, which is detected by a sudden loss of rank in the jacobian matrix. This rank-deficiency causes the failure of the classical dynamic formulations. The enforcement of the constraints through a penalty method leads to an attractive and efficient dynamic formulation that, in addition, can be used at singularities. This formulation leads to a symmetric and positive definite matrix whose rank does not depend on the rank of the jacobian and thus is ideally suited for singular positions. A refinement of this approach is achieved through an augmented Lagrangian method. A simple example and two dynamic simulations show the effectiveness of the formulation." @default.
- W3150331844 created "2021-04-13" @default.
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- W3150331844 date "1992-09-13" @default.
- W3150331844 modified "2023-09-27" @default.
- W3150331844 title "A Singularity-Free Penalty Formulation for the Dynamics of Constrained Multibody Systems" @default.
- W3150331844 doi "https://doi.org/10.1115/detc1992-0351" @default.
- W3150331844 hasPublicationYear "1992" @default.
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