A geometric approach to constraint stabilization for holonomic lagrangian systems

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

In this paper, we develop a geometric approach to constraint stabilization for holonomic mechanical systems in the context of Lagrangian formulation. We first show that holonomic mechanical systems, for the case in which a given Lagrangian is hyperregular, can be formulated by using the Lagrangian two-form, namely, a symplectic structure on the tangent bundle of a configuration manifold that is induced from the cotangent bundle via the Legendre transformation. Then, we present an idea of geometric constraint stabilization and we show that a holonomic Lagrangian system with geometric constraint stabilization can be formulated by the Lagrange-d'Alembert principle, together with its local coordinate expression for the sake of numerical computations. Finally, we illustrate the numerical verification that the proposed method enables to stabilize constraint violations effectively in comparison with the Baumgarte and Gear-Gupta-Leimkuhler methods together with an example of a linkage mechanism.

元の言語English
ホスト出版物のタイトル2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
ページ659-666
ページ数8
DOI
出版物ステータスPublished - 2008 6 17
イベント6th International Conference on Multibody Systems, Nonlinear Dynamics and Control, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
継続期間: 2007 9 42007 9 7

出版物シリーズ

名前2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
5 PART A

Conference

Conference6th International Conference on Multibody Systems, Nonlinear Dynamics and Control, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
United States
Las Vegas, NV
期間07/9/407/9/7

    フィンガープリント

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Mechanical Engineering
  • Modelling and Simulation

これを引用

Yoshimura, H. (2008). A geometric approach to constraint stabilization for holonomic lagrangian systems. : 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (pp. 659-666). (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; 巻数 5 PART A). https://doi.org/10.1115/DETC2007-35429