Abstract
In this work, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is presented. This new approach is derived under the framework of multibody dynamics formulation The basic idea of this methodology is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as function of the Moore-Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations. A planar four bar mechanism is used as a demonstrative example of application, which allows to show the effectiveness of presented method.
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