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UID:pretalx-amfc2026-9VGK97@modelica.simtek.cc
DTSTART;TZID=CST:20260922T113000
DTEND;TZID=CST:20260922T115500
DESCRIPTION:This paper introduces a formulation for Modelica MultiBody mode
 ls in which angular coordinates in closed-loop systems are replaced by dir
 ection cosine coordinates\, and the orthonormality violations of the intro
 duced direction cosine coordinates are controlled by Baumgarte-type correc
 tion terms at the derivative level. Thus\, the position constraints are tr
 ansformed into linear systems\, while the acceleration-level and velocity-
 level equations remain linear. In favorable cases\, the Jacobian becomes c
 onstant and dynamic switching of dummy states at the position level is no 
 longer required. Numerical experiments indicate good stability and modest 
 speed improvements.
DTSTAMP:20261004T070733Z
LOCATION:Modelica Technology & AI (R1001)
SUMMARY:Linearizing Position Constraints in Rigid Multibody Dynamics Using 
 Direction Cosine Coordinates: Method and Modelica Models - Yan Zhao\, Lipi
 ng Chen
URL:https://modelica.simtek.cc/amfc2026/talk/9VGK97/
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