Methods of analysis of constrained multibody systems

Methods of analysis of constrained and redundant multibody systems are discussed. Two methods for studying constrained systems are examined in detail: (1) the use of pseudoinverses and (2) the use of orthogonal complement arrays. Both of these methods eliminate the constraining forces from the analysis, thus producing consistent sets of differential equations. In the analysis presented herein, these methods are shown to be mathematically equivalent. However, there are computational differences. It is suggested that using orthogonal complement arrays produces computational advantages in developing computer software.