GEOMS: A New Software Package for the Numerical Simulation of Multibody Systems

In this article we present the new numerical algorithm GEOMS for the numerical integration of the most general form of the equations of motion of multibody systems, including nonholonomic constraints and possible redundancies in the constraints, as they may appear in industrial applications. Besides the numerical integration, the algorithm offers some additional features like stabilization of the model quations, use of different decomposition strategies, or checking and correction of the initial values with respect to their consistency. Furthermore, {\tt GEOMS} preserves hidden constraints and (possibly) existing solution invariants.