Inverse Dynamics of Geometrically Exact Beams

This paper is concerned with the inverse dynamics of flexible mechanical systems whose motion is governed by quasi-linear hyperbolic partial differential equations. Problems that appear by applying classical solution strategies to the problem at hand, e.g. integrating the problem at hand sequentially in space and time will be adressed in this work. Motivated by the hyperbolic structure of the underlying initial boundary value problem, two methods that are based on a simultaneous space-time integration will be presented. Special emphasize will be given to the phenomena of wave propagation within geometrically exact beams and its relevance regarding the inverse dynamics problem.