This paper proposes a second-order implicit constraint enforcement method which yields enhanced controllability compared to a first-order implicit constraints enforcement method. Although the proposed method requires solving a linear system twice, it yields superior accuracy from the constraints error perspective and guarantees the precise and natural movement of objects, in contrast to the first-order method. Thus, the proposed method is the most suitable for exact prediction simulations. This paper describes the numerical formulation of second-order implicit constraints enforcement. To prove its superiority, the proposed method is compared with the firstorder method using a simple two-link simulation. In this paper, there is a reasonable discussion about the comparison of constraints error and the analysis of dynamic
behavior using kinetic energy and potential energy.
M. Hong, S. Welch, S. Jung, M. Choi, D. Park, "Enhanced Second-Order Implicit Constraint Enforcement for Dynamic Simulation" KSII Transaction on Internet and Information Systems, Vol. 2. No. 1, pp.51-63, 2008
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