Numerical methods for the study of mechanical systems with additional constraints

The results of research of the use of modified Lagrange functions, developed in numerical optimization methods, to account for the additional constraints in the holonomic mechanical systems are presented. The problems of estimating the parameters of the modified Lagrange functions that ensure the movement of mechanical systems along the additional constraints are investigated. This methodology allows to apply of numerical simulation algorithms, developed for mechanical systems with the structure of a tree, on a system with closed kinematic chains. Comparative efficiency of the method is shown by test examples.