Investigation of the Influence of Pseudoinverse Matrix Calculations on Multibody Dynamics Simulations by Means of the Udwadia-Kalaba Formulation

D. de Falco; E. Pennestri; L. Vita

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Investigation of the Influence of Pseudoinverse Matrix Calculations on Multibody Dynamics Simulations by Means of the Udwadia-Kalaba Formulation

机译：用Udwadia-Kalaba公式研究伪逆矩阵计算对多体动力学仿真的影响

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The formulation of the dynamic equations of motion proposed by Udwadia-Kalaba is discussed from the point of view of numerical efficiency. Since this formulation requires the computation of a pseudoinverse matrix, it has investigated the influence of the method of pseudoinverse computation on the dynamic simulation of an overconstrained linkage. Finally, it has been proposed that a new dynamic equation which explicitly computes accelerations also in the case of mathematical models with rank deficient Jacobian and mass matrices.

机译：从数值效率的角度讨论了Udwadia-Kalaba提出的动态运动方程。由于此公式需要计算伪逆矩阵，因此已研究了伪逆计算方法对过度约束的链接的动态仿真的影响。最后，已经提出了一种新的动力学方程，该动力学方程在具有秩不足的雅可比矩阵和质量矩阵的数学模型的情况下也显式地计算加速度。

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来源
《Journal of aerospace engineering》 |2009年第4期|365-372|共8页
作者
D. de Falco; E. Pennestri; L. Vita;
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作者单位

Dipartimento di Ingegneria Spaziale e Aeronautica II Universita di Napoli, Real Casa dell'Annunziata, Via Roma, 29 81031 Aversa, Italy;

Dipartimento di Ingegneria Meccanica, Universita di Roma, Tor Ver- gata Facolta Ingegneria, via del Politecnico, 1 00133 Roma, Italy;

Dipartimento di Ingegneria Meccanica, Universita di Roma, Tor Ver- gata Facolta Ingegneria, via del Politecnico, 1 00133 Roma, Italy;

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正文语种 eng
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关键词
matrix methods; computation; simulation; aerospace engineering;

机译：矩阵法计算模拟;航空航天工程;

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7. Investigation of the influence of pseudoinverse matrix calculations on multibody dynamics simulations by means of the udwadia-kalaba formulation [O] . De Falco D, Pennestrì E, Vita L 2009

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Investigation of the Influence of Pseudoinverse Matrix Calculations on Multibody Dynamics Simulations by Means of the Udwadia-Kalaba Formulation

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