Variational Integrators on Manifolds for Constrained Mechanical Systems
Ziying Lin,
Hongchen Li,
Ye Ding
et al.
Abstract:Variational integrators play a pivotal role in the simulation and control of constrained mechanical systems. Recognizing the need for a Lagrange-multiplier-free approach in such systems, this study introduces a novel method for constructing variational integrators on manifolds. Our approach unfolds in three key steps: (1) local parameterization of configuration space; (2) formulation of forced discrete Euler-Lagrange equations on manifolds; (3) derivation and implementation of highorder variational integrators… Show more
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