A Parameter Estimation Method for Multibody Systems with Constraints

Multibody system models (MBS) are well suited for many systems in the fields of robotics, vehicle dynamics, mechanisms and so on. While the first MBS were simple one-mass-oscillators or simple oscillator chains, nowadays rather complex models may be used which can be derived by symbolic operating generators for the equations of motion [1]. Recently MBS with constraints are a subject for scientific investigation. These systems arise if kinematic loops are present or if subsystems are joined to form complex systems, which are then described by subsystem and not by generalized coordinates.