On the simulation of multibody systems with holonomic constraints
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constraintsholonomicmultibodyapproachavoidscomputationalderivedrift-off
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We use Lagrangian formalism and jet spaces to derive a computational model to simulate multibody dynamics with holonomic constraints. Our approach avoids the traditional problems of drift-off and spurious oscillations. Hence even long simulations remain physically relevant. We illustrate our method with several numerical examples.
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