Investigation of the influence of pseudoinverse matrix calculations on multibody dynamics simulations by means of the Udwadia-Kalaba formulation

The formulation of the dynamic equations of motion proposed by Udwadia-Kalaba is discussed from the point of view of numerical efficiency. Since this formulation requires the computation of a pseudoinverse matrix, it has investigated the influence of the method of pseudoinverse computation on the dynamic simulation of an overconstrained linkage. Finally, it has been proposed that a new dynamic equation which explicitly computes accelerations also in the case of mathematical models with rank deficient Jacobian and mass matrices. DOI: 10.1061/(ASCE)0893-1321 (2009)22:4(365) CE Database subject headings: Matrix methods; Computation; Simulation; Aerospace engineering.