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A New Approach to the Numerical Solution of Constrained Mechanical System Dynamics

Keerthi, SS and Sudarsan, R and Sancheti, NK (1992) A New Approach to the Numerical Solution of Constrained Mechanical System Dynamics. In: IEEE International Conference on Robotics and Automation, 1992., 12-14 May, Nice,France, Vol.1, 293 -298.


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A new approach to the numerical solution of the vector field associated with constrained mechanical systems, called as the perturbation approach is introduced. It is a specialization of a method of solving general vector fields, due to Shampine. The perturbation approach has several advantages over the etisting approaches. The performance of the approaches on a constrained robot problem is used to show the efficacy of the new approach.

Item Type: Conference Paper
Publisher: IEEE
Additional Information: Copyright 1992 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE
Department/Centre: Division of Electrical Sciences > Computer Science & Automation
Date Deposited: 25 Aug 2008
Last Modified: 19 Sep 2010 04:28
URI: http://eprints.iisc.ac.in/id/eprint/7165

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