%0 Journal Article
%A Rodriguez, Guillermo
%A Jain, Abhinandan
%D 2003
%I Begell House
%N 2&3
%P 16
%R 10.1615/IntJMultCompEng.v1.i23.70
%T Multibody Mass Matrix Sensitivity Analysis Using Spatial Operators
%U http://dl.begellhouse.com/journals/61fd1b191cf7e96f,7f7cdb8d6d2aa4b1,5cec162c0eb0837d.html
%V 1
%X This article discusses an approach for sensitivity analysis of multibody dynamics using spatial operators. The spatial operators are rooted in the function space approach to estimation theory developed in the decades following the introduction of the Kalman filter and used extensively to develop a range of results in multibody dynamics. The operators provide a mathematical framework for studying a wide range of analytical and computational problems associated with multibody system dynamics. This article focuses on the computation of the sensitivity of the system mass matrix for tree-topology multibody systems and develops an analytical expression for the same using spatial operators. As an application example, mass matrix sensitivity is used to derive analytical expressions based on composite body inertias for the Christoffel symbols associated with the equations of motion.
%8 2003-06-01