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MBSlib–An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis

The dynamic behavior of many technical and biomechanical systems can be modeled, simulated and optimized by using a multibody systems approach. Systems with many degrees of freedom typically result in complex and high-dimensional multibody systems models that necessitate capable modeling approaches and efficient computational algorithms as well as impede the numerical solution of related optimization problems. In this paper, the efficient and modular multibody systems library MBSlib for kinematics and dynamics simulation, optimization and sensitivity analysis is presented. MBSlib provides an intuitive modeling interface, modular software architecture, efficient computational algorithms as well as the computation of derivatives with respect to system states, control variables or model parameters. In combination with gradient-based optimization methods, the derivatives can be used to facilitate the numerical solution of optimization problems significantly. The library is open and can be obtained from the MBSlib website. These features make MBSlib a powerful, flexible, and lightweight modeling, simulation and optimization library suitable for many technical and biomechanical applications.