Constrained integration of rigid body dy
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P. Betsch; P. Steinmann
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Article
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2001
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Elsevier Science
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English
โ 600 KB
In the present paper rigid body dynamics is formulated as mechanical system with holonomic constraints. This approach oers the appealing possibility to deal with ยฎnite rotations without employing any speciยฎc rotational parameterization. The numerical discretization of the underlying system of dieren