@techreport{838b2745fcbb410eb7e2a2e50cdf8ffb,
title = "On the Simulation of Multibody Systems with Holonomic Constraints",
keywords = "differential algebraic equations, lagrangian mechanics, multibody systems, Runge-Kutta methods, differential algebraic equations, lagrangian mechanics, multibody systems, Runge-Kutta methods, differential algebraic equations, lagrangian mechanics, multibody systems, Runge-Kutta methods",
author = "Teijo Arponen and Villesamuli Normi and Jukka Tuomela",
year = "2006",
language = "English",
series = "Helsinki University of Technology Institute of Mathematics Research Reports",
publisher = "Teknillinen korkeakoulu",
number = "A509",
type = "WorkingPaper",
institution = "Teknillinen korkeakoulu",
}