Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference--2005: Presented at 2005 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, September 24-28, 2005, Long Beach, California, USA
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ALGORITHMS AND INTEGRATION METHODS
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acceleration actuator algorithm angle applied approach ASME associated behavior Biomechanics calculated coefficient coefficient of restitution components constraint equations constraint forces contact force contact model coordinates Copyright CVODES damping defined deformation degrees of freedom derived differential algebraic equations differential equations dynamic analysis dynamic simulation Dynamic Systems efficient elastic electrodynamic tether energy equa equations of motion error evaluation experimental Figure finite element flexible formulation frequency friction function impact implementation inertia initial integration inverse dynamics iteration Jacobian joint kinematic kinematic constraint Lagrange Lagrange multipliers lightcraft linear mass matrix mechanical systems method multibody dynamics multibody system muscle forces nonlinear normal obtained optimization parallel computing parameters performance problem processors recursive relative rigid body Robotics rover shown in Fig solution solved solver spatial stability state-time stator step stiffness structure subsystem System Dynamics tangent matrix technique tether tion torque trajectory Ultrasonic Motor variables vector vehicle wheel