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Enhanced Second-order Implicit Constraint Enforcement for Dynamic Simulations

  • Hong, Min (Division of Computer Science and Engineering, Soonchunhyang University) ;
  • Welch, Samuel W.J. (Department of Mechanical Engineering, University of Colorado) ;
  • Jung, Sun-Hwa (Department of Computer Science and Engineering, University of Colorado) ;
  • Choi, Min-Hyung (Department of Computer Science and Engineering, University of Colorado) ;
  • Park, Doo-Soon (Division of Computer Science and Engineering, Soonchunhyang University)
  • Published : 2008.02.25

Abstract

This paper proposes a second-order implicit constraint enforcement method which yields enhanced controllability compared to a first-order implicit constraints enforcement method. Although the proposed method requires solving a linear system twice, it yields superior accuracy from the constraints error perspective and guarantees the precise and natural movement of objects, in contrast to the first-order method. Thus, the proposed method is the most suitable for exact prediction simulations. This paper describes the numerical formulation of second-order implicit constraints enforcement. To prove its superiority, the proposed method is compared with the firstorder method using a simple two-link simulation. In this paper, there is a reasonable discussion about the comparison of constraints error and the analysis of dynamic behavior using kinetic energy and potential energy.

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