An instantaneous eigenstructure quasivelocity formulation for nonlinear multibody dynamics Academic Article uri icon


  • A novel method is presented to solve the equations of motion for a large class of constrained and unconstrained dynamical systems. Given an analytic expression for the system mass matrix, quasivelocity equations of motion are derived in a manner that generates equations analogus to the dynamics/kinematics partitioning in Eulerian rigid body dynamics. ThiS separation is accomplished by introducing a new quasivelocity vector η which yields a dynamical system with an identity mass matrix. The problem of inverting a complex mass matrix is replaced by the problem of solving two first-order differential equations for the mass matrix eigenfactors. Dynamic constraint equations are incorporated directly into the new η differential equation, forgoing any need to solve the algebraic constraint equations simultaneously with the differential equations of motion.

author list (cited authors)

  • Junkins, J. L., & Schaub, H.

publication date

  • July 1997