• KSII Transactions on Internet and Information Systems
    Monthly Online Journal (eISSN: 1976-7277)

Enhanced Second-order Implicit Constraint Enforcement for Dynamic Simulations


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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Cite this article

[IEEE Style]
Min Hong, Samuel W. J. Welch, Sunhwa Jung, Min-Hyung Choi and Doo-Soon Park, "Enhanced Second-order Implicit Constraint Enforcement for Dynamic Simulations," KSII Transactions on Internet and Information Systems, vol. 2, no. 1, pp. 51-62, 2008. DOI: 10.3837/tiis.2008.01.004

[ACM Style]
Hong, M., Welch, S. W. J., Jung, S., Choi, M., and Park, D. 2008. Enhanced Second-order Implicit Constraint Enforcement for Dynamic Simulations. KSII Transactions on Internet and Information Systems, 2, 1, (2008), 51-62. DOI: 10.3837/tiis.2008.01.004