2000 年 66 巻 649 号 p. 2926-2930
A new formulation applicable to a very large class of rigid and flexible multibody systems subjected to equality and latch-type inequality constraints is presented. It is a natural extension of the variable-gain penalty method for systems with holonomic and nonholonomic equality constraints, developed by the author. This paper focuses on the conversion of the inequality constraints to equalities, though it also summarizes the penalty algorithm. Dynamical validity and efficiency of the approach are checked through numerical study of a flexible link system with a latch joint.