Journal of the Brazilian Society of Mechanical Sciences
Print version ISSN 0100-7386
ROCHINHA, Fernando A. and SAMPAIO, Rubens. Nonlinear dynamics and control of multibody systems. J. Braz. Soc. Mech. Sci. [online]. 2000, vol.22, n.3, pp.477-487. ISSN 0100-7386. http://dx.doi.org/10.1590/S0100-73862000000300008.
The dynamics of flexible systems, such as robot manipulators , mechanical chains or multibody systems in general, is becoming increasingly important in engineering. This article deals with some nonlinearities that arise in the study of dynamics and control of multibody systems in connection to large rotations. Specifically, a numerical scheme that adresses the conservation of fundamental constants is presented in order to analyse the control-structure interaction problems.