Inverse and direct dynamics of constrained multibody systems based on orthogonal decomposition of generalized force
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Bibliographic record
Abstract
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can be served as a basis for analysis, simulation, and control. The compactness of the dynamics formulation can result in computational efficiency. Furthermore, the acceleration is explicitly related to the generalized force by an introduced "constraint inertia matrix" which is proved to be always invertible. Thus a simulation may proceed even with the presence of redundant constraints or singular configurations. The generalized forces are decomposed onto two orthogonal subspaces which are considered as control inputs for controlling position and constraint force. The motion controller scheme, remarkably, requires no force feedback, proves to be stable, and minimizes actuation force. Finally, numerical and experimental results obtained from dynamic simulation and control of constrained mechanical systems, based on the proposed inverse and direct dynamics formulations, are documented.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it