... × 1 In this paper, methods of handling redundant constraints during multibody simulations, representative for both approaches, are investigated. The study is focused on joint reactions determination. The multibody system equations of motion are formulated in an extensively used form...

...Andreas Müller Redundant constraints in multibody system (MBS) models, reflected by a singular constraint Jacobian, impair the efficient dynamics simulation. In particular, kinematic loop constraints are often found to be permanently redundant. This problem is commonly attacked numerically...