Sequential Regularization Methods for Simulating Mechanical Systems with Many Closed Loops

@article{Ascher1999SequentialRM,
  title={Sequential Regularization Methods for Simulating Mechanical Systems with Many Closed Loops},
  author={Uri M. Ascher and Ping Lin},
  journal={SIAM J. Scientific Computing},
  year={1999},
  volume={21},
  pages={1244-1262}
}
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… CONTINUE READING