RESEARCH PAPERS: Design Automation Papers

A Differentiable Null Space Method for Constrained Dynamic Analysis

[+] Author and Article Information
C. G. Liang

General Motors Research Laboratories, Warren, MI

George M. Lance

Center for Computer Aided Design, Department of Mechanical Engineering, College of Engineering, The University of Iowa, Iowa City, IA 52242

J. Mech., Trans., and Automation 109(3), 405-411 (Sep 01, 1987) (7 pages) doi:10.1115/1.3258810 History: Received October 30, 1986; Online November 19, 2009


A geometric approach to the solution of the dynamic response of constrained mechanical systems is proposed. A continuous and differentiable basis of the constraint null space is automatically generated using the Gram-Schmidt process. The independent coordinates are obtained by transforming the physical velocity coordinates to the tangent hyperplane of the constraint surface. As a result the independent coordinates lie on the constraint surface and no constraint violation control is necessary.

Copyright © 1987 by ASME
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