Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique

- Journal title : Transactions of the Korean Society of Mechanical Engineers A
- Volume 25, Issue 12, 2001, pp.1966-1973
- Publisher : The Korean Society of Mechanical Engineers
- DOI : 10.22634/KSME-A.2001.25.12.1966

Title & Authors

Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique

Lee, Jae-Uk; Son, Jeong-Hyeon; Kim, Gwang-Seok; Yu, Wan-Seok;

Lee, Jae-Uk; Son, Jeong-Hyeon; Kim, Gwang-Seok; Yu, Wan-Seok;

Abstract

The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.

Keywords

System Jacobian;Velocity Tranformation Technique;Implicit Integration Method;

Language

Korean

Cited by

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