Implicit Constraint Enforcement for Rigid Body Dynamic Simulation
نویسندگان
چکیده
The paper presents a simple, robust, and effective constraint enforcement scheme for rigid body dynamic simulation. The constraint enforcement scheme treats the constraint equations implicitly providing stability as well as accuracy in constrained dynamic problems. The method does not require ad-hoc problem dependent parameters. We describe the formulation of implicit constraint enforcement for both holonomic and non-holonomic cases in rigid body simulation. A first order version of the method is compared to a first order version of the well-known Baumgarte stabilization.
منابع مشابه
Intuitive Control of Dynamic Simulation Using Improved Implicit Constraint Enforcement
Geometric constraints are imperative components of many dynamic simulation systems to effectively control the behavior of simulated objects. In this paper we present an improved first-order implicit constraint enforcement scheme to achieve improved accuracy without significant computational burden. Our improved implicit constraint enforcement technique is seamlessly integrated into a dynamic si...
متن کاملNumerical Stability and Convergence Analysis of Geometric Constraint Enforcement in Dynamic Simulation Systems
The geometric constraint enforcement using Lagrange Multipliers is one of the popular methods to control the behavior and trajectories of dynamically simulated entities. Therefore, effective and efficient enforcement and proper integration of the geometric constraints is the key to a successful constraint management. This paper describes the formulation and integration of geometric constraints ...
متن کاملEnhanced Second-order Implicit Constraint Enforcement for Dynamic Simulations
This paper proposes a second-order implicit constraint enforcement method which yields enhanced controllability compared to a first-order implicit constraints enforcement method. Although the proposed method requires solving a linear system twice, it yields superior accuracy from the constraints error perspective and guarantees the precise and natural movement of objects, in contrast to the fir...
متن کاملSimulation of Strap-On Boosters Separation in the Atmosphere
A numerical dynamic-aerodynamic interface for simulating the separation dynamics of constrained strap-on boosters jettisoned in the atmosphere is presented. A 6-DOF multi body dynamic solver ،using Constraint Force Equation Methodology is coupled with a numerical time dependent Euler flow solver. An automatic dynamic mesh updating procedure is employed using smoothing and l...
متن کاملModeling and Simulation Research on Dynamics of Missiles with Deflectable Nose Control
The dynamic characteristics of deflectable nose missiles with rotary single-channel control were investigated in this paper. Firstly, the effective angle of attack, effective angle of sideslip and quasi-body coordinates were introduced based on the spin characteristics of the missile’s body. Secondly, considering the interaction between the missile’s nose and body, the rigid kinetic model of mi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006