Solutions to Kinematic Constraint Equations

摘要

A new method for sloving the coupled differential-algebraic equations that arise when modeling the kinematics of multilinked rigid body systems is presented. The method uses consistent solutions of the velocity and acceleration constraint equations based on eigenvectors associated with the singular value decomposition of the constraint matrix. Generalized coordinates are automatically selected so that the required numerical integrations are associated with directions either tangent or normal to the constraints.