Initial condition correction in multibody dynamics

Research output: Contribution to journalArticlepeer-review

40 Scopus citations


A simple procedure is presented to correct initial conditions for the coordinates and velocities prior to performing a kinematic or forward dynamic analysis of multibody systems. Such corrections are crucial since slight amount of constraint violations at the start of any numerical integration of equations of motion can lead to erroneous results. The correction process is based on the well-known method of minimizing the sum-of-squares of adjustments in the coordinates or velocities. The process provides a solution that is closest to the estimated values. It should be a simple task to implement this methodology as a preprocessing step for any kinematic or forward dynamic analysis program regardless of the formulation.

Original languageEnglish (US)
Pages (from-to)107-115
Number of pages9
JournalMultibody System Dynamics
Issue number1
StatePublished - Aug 2007


  • Corrections
  • Initial conditions
  • Minimization
  • Sum-of-squares

ASJC Scopus subject areas

  • Modeling and Simulation
  • Aerospace Engineering
  • Mechanical Engineering
  • Computer Science Applications
  • Control and Optimization


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