PROJECTIVE CONSTRAINT VIOLATION STABILIZATION METHOD FOR MULTIBODY SYSTEMS ON MANIFOLDS

simulation of multibody systems Constraint gradient projective method for stabilization of constraint violation during time integration of multibody systems (MBS) is in focus of the paper. Mathematical model for constrained MBS dynamic simulation on manifolds is introduced and numerical violation of system kinematical constraints is discussed. As an extension of the previous work, that was focused on time integration of holonomic systems, the stabilization projective method is discussed in the context of generally constrained mechanical systems. By adopting differential-geometric point of view, the geometric and stabilization issues of the method are addressed. After discussing optimization of partitioning algorithm, it is shown that the projective stabilization method can be applied for numerical stabilization of holonomic and non-holonomic constraints in Pfaffian and general form. 1