Multibody dynamics optimization requires the computation of sensitivities of the objective function and the constraints. This calculation can be done by two methods, direct differentiation and adjoint variable method, that are reviewed in this paper. In either cases, the complexity of the terms that appear in the formulation makes almost a need the use of symbolic computation for the derivation of sensitivities. An existing symbolic manipulator designed for multibody optimization has been enhanced with new and more powerful capabilities. The use of arbitrary functions as design variables and pointwise constraints permits the solution of more complex optimization problems. Some illustrative examples prove the capacity of the method to handle complex optimization problems.
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