A frequency domain approach for parameter identification in multibody dynamics.

The adjoint method shows an efficient way to incorporate inverse dynamics to engineering multibody applications, as, e.g., parameter identification.

The discrete adjoint method for parameter identification in multibody system dynamics.

The is an elegant approach for the computation of the gradient of a cost function to identify a set of parameters. An additional set of differential equations has to be solved to compute the adjoint variables, which are further used for the gradient computation. However, the accuracy of the numerical solution of the adjoint differential equation has a great impact on the gradient.

Optimal input design for multibody systems by using an extended adjoint approach.

We present a method for optimizing inputs of multibody systems for a subsequently performed parameter identification. Herein, optimality with respect to identifiability is attained by maximizing the information content in measurements described by the Fisher information matrix. For solving the resulting optimization problem, the adjoint system of the sensitivity differential equation system is employed.

On the rotational equations of motion in rigid body dynamics when using Euler parameters.

Many models of three-dimensional rigid body dynamics employ Euler parameters as rotational coordinates. Since the four Euler parameters are not independent, one has to consider the quaternion constraint in the equations of motion. This is usually done by the Lagrange multiplier technique.