Zusammenfassung
The numerical simulation problem of large multibody systems has often
been treated in two separate stages: (i) the forward dynamics problem
for computing system accelerations from given force functions and
constraints and (ii) the numerical integration problem for advancing
the state in time. For the forward dynamics problem, algorithms have
been given with optimal, linear complexity in the number of bodies,
in case the system topology does not contain many closed loops. But
the interaction between these two stages can be important. Using
explicit time integration schemes, we propose a sequential regularization
method (SRM) that has a linear complexity in the number of bodies
per time step, even in the presence of many closed loops. The method
also handles certain types of constraint singularity.
Nutzer