This paper will look at how to include flexible modes into a real-time multibody simulation. The approach proposed in this paper is to divide the equations into two separate systems: rigid and flexible, which are then co-simulated by two separate integrators. After the flexible equations are integrated at each time step the modal coordinates are used to update the joint and force attachment locations in the rigid model then the joint forces from the rigid model are fed to the flexible model. This approach essentially means a new rigid model is solved at each time step. The use of a co-simulation approach will also allow separate processors to be used for the flexible and rigid equations.

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