Olivier A. Bauchau

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The parameterization of rotation is the subject of continuous research and development in many theoretical and applied fields of mechanics, such as rigid body, structural , and multibody dynamics, robotics, spacecraft attitude dynamics, navigation, image processing, and so on. This paper introduces the vectorial parameterization of rotation, a class of(More)
A hallmark of multibody dynamics is that most formulations involve a number of constraints. Typically, when redundant generalized coordinates are used, equations of motion are simpler to derive but constraint equations are present. Approaches to dealing with high index differential algebraic equations, based on index reduction techniques, are reviewed and(More)
A hallmark of multibody dynamics is that most formulations involve a number of constraints. Typically, when redundant generalized coordinates are used, equations of motion are simpler to derive but constraint equations are present. While the dynamic behavior of constrained systems is well understood, the numerical solution of the resulting equations,(More)
We propose a simple preconditioning for the equations of motion of constrained mechanical systems in index three form. The scaling transformation is applied to the displacement-velocity-multiplier and to the reduced displacement-multiplier forms. The analysis of the transformed system shows that conditioning and sensitivity to perturbations become(More)