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- W4240367081 abstract "Abstract Models of the dynamics of multibody systems generally result in a set of differential–algebraic equations (DAE). State–space methods for solving the DAE of motion are based on reduction of the DAE to ordinary differential equations (ODE), by means of local parameterizations of the constraint manifold that must be often modified during a simulation. In this paper it is shown that, for vehicle multibody systems, generalized coordinates that are dual to suspension and/or control forces in the model are independent for the entire range of motion of the system. In addition to the immediate advantage of avoiding the computationally expensive redefinition of local parameterization, the existence of globally independent coordinates leads to efficient algorithms for recovery of dependent generalized coordinates. A topology based approach to identify efficient computational sequences is presented. Numerical examples demonstrate the improved performance of the proposed approach, relative to the conventional Cartesian coordinate formulation." @default.
- W4240367081 created "2022-05-12" @default.
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- W4240367081 date "1998-09-13" @default.
- W4240367081 modified "2023-09-28" @default.
- W4240367081 title "Globally Independent Coordinates for Real-Time Vehicle System Simulation" @default.
- W4240367081 doi "https://doi.org/10.1115/detc98/dac-5587" @default.
- W4240367081 hasPublicationYear "1998" @default.
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