Simple and efficient integration of rigid rotations suitable for constraint solvers

Koziara, T. and Bicanic, N. (2010) Simple and efficient integration of rigid rotations suitable for constraint solvers. International Journal for Numerical Methods in Engineering, 81(9), pp. 1073-1092. (doi: 10.1002/nme.2711)

Abstract

Simple and efficient way of integrating rigid rotations is presented. The algorithm is stable, second-order accurate, and in its explicit version involves evaluation of only two exponential maps per time step. The semi-explicit version of the proposed scheme improves upon the long-term stability, while it retains the explicitness in the force evaluation. The algebraic structure of both schemes makes them suitable forthe analysis of constrained multi-body systems. The explicit algorithm is specifically aimed at the analysis involving small incremental rotations, where its modest computational cost becomes the major advantage. The semi-explicit scheme naturally broadens the scope of possible applications.

• Item Type: Articles
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Bicanic, Professor Nenad and Koziara, Dr Tomasz
• Authors: Koziara, T., and Bicanic, N.
• College/School: College of Science and Engineering > School of Engineering > Infrastructure and Environment
• Journal Name: International Journal for Numerical Methods in Engineering
• ISSN: 1097-0207