Recursive Algorithm Based on Canonical Momenta for Forward Dynamics of Multibody Systems: Numerical Results

Abstract

In this paper, a recursive O(n) method to obtain a set of Hamiltonian equations for open-loop and constrained multibody INTRODUCTIONMultibody systems (MBS) dynamics is the study of the motion of systems of interconnected bodies and the forces and torques exerted on them. The simulation of the motion of mechanical systems has a wide variety of applications such as virtual prototyping, virtual reality, computer animation and advanced robot control. One can state that two main challenges are on the focus of research. On one hand, a lot of research has been and is still being done to reduce the computation time of dynamical simulations, while the complexity of the simulated systems keeps growing. The efficiency of simulations can be increased by