Real-Time Integration Methods for Mechanical System Simulation

This book contains the edited versions of lectures and selected contributed papers presented at the NATO Advanced Research Workshop on Real-Time Integration Methods For Mechanical System Simulation, held in Snowbird, Utah, August 7-11, 1989. The Institute was attended by 42 participants from 9 countries, including leading mathematicians and engineers from universities, research institutions, and industry. The majority of participants presented either invited or contributed papers during the Institute, and everyone participated in lively discussions on scientific aspects of the program. The Workshop provided a forum for investigation of promising new directions for solution of differential-algebraic equations (DAE) of mechanical system dynamics by mathematicians and engineers from numerous schools of thought. The Workshop addressed needs and opportunities for new methods of solving of DAE of mechanical system dynamics, from the perspective of a broad range of engineering and scientific applications. Among the most exciting new applications addressed was real­ time computer simulation of mechanical systems that, for the first time in human history, permits operator-in-the-Ioop simulation of equipment that is controlled by the human; e.g., driving a vehicle, operating a space telerobot, operating a remote manipulator, and operating construction equipment. The enormous potential value of this new application and the fact that real-time numerical integration methods for DAE of mechanical system dynamics is the pacing problem to be solved in realizing this potential served to focus much of the discussion at the Workshop. Front Matter....Pages I-VIII Front Matter....Pages 1-1 An Example of Real-Time Simulation: Multi-body Vehicles....Pages 3-31 Industrial Practices and Examples Space Structures and Robots....Pages 33-43 Real-Time Motion Base Simulation....Pages 45-54 Aspects of Efficient and Reliable Multibody System Simulation....Pages 55-96 Generalized Coordinate Partitioning Methods for Numerical Integration of Differential-Algebraic Equations of Dynamics....Pages 97-114 An Introduction to Numerical Methods for ODEs and DAEs....Pages 115-126 Methods and Software for Differential-Algebraic Systems....Pages 127-140 Front Matter....Pages 141-141 A New Class of Generalized Inverses for the Solution of Discretized Euler — Lagrange Equations....Pages 143-154 Differential-Geometric Techniques for Solving Differential Algebraic Equations....Pages 155-191 On Baumgarte Stabilization for Differential Algebraic Equations....Pages 193-207 A Stabilization Method for Kinematic and Kinetic Constraint Equations....Pages 209-232 Parallel Solution of ODEs....Pages 233-248 Subcycling Applied to Ordinary Differential Equations....Pages 249-262 Front Matter....Pages 263-263 Real Time Simulation of Complex 3-D Multibody Systems With Realistic Graphics....Pages 265-292 On the GAUSS Principle in the Numerical Integration of Mechanical Systems....Pages 293-300 Simultaneous Derivation of Control Laws and of Dynamical Model Equations for Controlled Mechanisms....Pages 301-327 A Comparison of Numerical Integration Methods With a View to Fast Simulation of Mechanical Dynamical Systems....Pages 329-343 BDF Methods for DAEs in Multi-body Dynamics: Shortcomings and Improvements....Pages 345-352 This is the only book available that focuses exclusively on the important and manifold class of mechanical system dynamics applications of differential-algebraic equations (DAE). The selected papers in the book de- velop the foundations of DAE as they appear in mechanical system dynamics applications, and develop the foundations of contemporary methods for numerical solution of DAE of mechanical system dynamics. Many theoretical methods and methods of generalized coordinate partitioning for implicit numerical integration of DAE are developed for the first time in this text. The book is the only authoritative source on numerical solution of the DAE of mechanical system dynamics, and encompasses a broad range of applications in engineering and applied physics Proceedings of the NATO Advanced Research Workshop on Real- Time Integration Methods for Mechanical System Simulation, held in Snowbird, Utah, USA, August 7-11, 1989