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On the simulation of multibody systems with holonomic constraints

Jukka Tuomela·Teijo Arponen·Villesamuli Normi
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Abstract

We use Lagrangian formalism and jet spaces to derive a computational model to simulate multibody dynamics with holonomic constraints. Our approach avoids the traditional problems of drift-off and spurious oscillations. Hence even long simulations remain physically relevant. We illustrate our method with several numerical examples.

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Jukka Tuomela, Teijo Arponen, Villesamuli Normi. 2006-11-03. On the simulation of multibody systems with holonomic constraints. https://arxiv.org/abs/math/0611078

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