Journal article
Another Multibody Dynamics in Natural Coordinates through Automatic Differentiation and High-Index DAE Solving
Abstract
The Natural Coordinates (NCs) method for Lagrangian modelling and simulation of multi-body systems is valued for giving simple, sparse models. We describe our version of it (NPNCs) and compare with the classical ap- proach of Jalón and Bayo (JBNCs). NPNCs use the high-index differential- algebraic equation solver DAETS. Algorithmic differentiation, not symbolic algebra, forms the equations of motion from the Lagrangian. NPNCs give significantly …
Authors
Pryce JD; Nedialkov N
Journal
Acta Cybernetica, Vol. 24, No. 3, pp. 315–341
Publisher
University of Szeged
DOI
10.14232/actacyb.24.3.2020.4
ISSN
0324-721X