A Penalty Formulation for Dynamics Analysis of Redundant Mechanical Systems

Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C ◽

10.1115/detc2009-87733 ◽

2009 ◽

Author(s):

Bilal Ruzzeh ◽

Jo´zsef Ko¨vecses

Keyword(s):

Inverse Dynamics ◽

Load Capacity ◽

Mechanical Systems ◽

Dynamics Analysis ◽

Penalty Approach ◽

Penalty Formulation ◽

Mathematical Problems ◽

Inverse Dynamics Analysis

Redundancy in constraining of mechanical systems achieves more stability and larger load capacity for the system, while in actuation it provides better robustness against singularities and higher maneuvrability. Few techniques have been developed to handle redundancy and singularities in dynamics analysis, yet difficulties and mathematical problems continue to manifest. This paper expands on the existing penalty techniques and incorporates the concept of actuating/passive constraints to present an elegant penalty formulation that is capable of efficiently handling singularities and redundancy in constraining and actuation and can carry out either forward or inverse dynamics analysis of mechanical systems. As such, the proposed approach is referred to as the actuating/passive constraints penalty approach, or the APCPA.

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A Penalty Formulation for Dynamics Analysis of Redundant Mechanical Systems

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4002510 ◽

2010 ◽

Vol 6 (2) ◽

Cited By ~ 13

Author(s):

Bilal Ruzzeh ◽

József Kövecses

Keyword(s):

Inverse Dynamics ◽

Load Capacity ◽

Mechanical Systems ◽

Dynamics Analysis ◽

Penalty Approach ◽

Penalty Formulation ◽

Inverse Dynamics Analysis

Redundancy in the constraining of mechanical systems achieves more stability and larger load capacity for the system, while in actuation it provides better robustness against singularities and higher maneuverability. Few techniques have been developed with the aim to handle redundancy and singularities in dynamics analysis, and further research is still needed in this area. In this paper, we illustrate the concept of actuating and passive constraints. Then, we expand on the existing penalty techniques by incorporating the concept of actuating and passive constraints to present a penalty formulation that is capable of efficiently handling singularities and redundancy in constraining and actuation and can carry out either forward or inverse dynamics analysis of mechanical systems. As such, the proposed approach is referred to as the actuating-passive constraints penalty approach.

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The Use of Servo-Constraints in the Inverse Dynamics Analysis of Underactuated Multibody Systems

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4025855 ◽

2014 ◽

Vol 9 (4) ◽

Cited By ~ 7

Author(s):

Wojciech Blajer

Keyword(s):

Inverse Dynamics ◽

Mechanical Systems ◽

Differential Algebraic Equations ◽

Underactuated System ◽

Dynamics Analysis ◽

Underactuated Mechanical Systems ◽

Internal Dynamics ◽

Constraint Problem ◽

Servo Constraints ◽

Inverse Dynamics Analysis

Underactuated mechanical systems have fewer control inputs than degrees of freedom. The specified in time outputs, equal in number to the number of inputs, lead to servo-constraints on the system. The servo-constraint problem is then a specific inverse simulation problem in which an input control strategy (feedforward control) that forces an underactuated system to complete the partly specified motion is determined. Since mechanical systems may be “underactuated” in several ways, and the control forces may be arbitrarily oriented with respect to the servo-constraint manifold, this is, in general, a challenging task. The use of servo-constraints in the inverse dynamics analysis of underactuated systems is discussed here with an emphasis on diverse possible ways of the constraint realization. A formulation of the servo-constraint problem in configuration coordinates is compared with a setting in which the actuated coordinates are replaced with the outputs. The governing equations can then be set either as ordinary differential equations (ODEs) or differential-algebraic equations (DAEs). The existence and nonexistence of an explicit solution to the servo-constraint problem is further discussed, related to so-called flat systems (with no internal dynamics) and nonflat systems (with internal dynamics). In case of nonflat systems, of paramount importance is stability of the internal dynamics. Simple case studies are reported to illustrate the discussion and formulations.

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Inverse Dynamics Analysis of 6-dof Robotic Manipulator (UR5) by Forward & Backward Recursion

SSRN Electronic Journal ◽

10.2139/ssrn.3868558 ◽

2021 ◽

Author(s):

Rajul Kumar

Keyword(s):

Inverse Dynamics ◽

Robotic Manipulator ◽

Dynamics Analysis ◽

Inverse Dynamics Analysis

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An Inverse Dynamics Analysis of the Remote Controlled Artillery-Missile System Under the Influence of Disturbances

Springer Proceedings in Mathematics & Statistics - Dynamical Systems in Theoretical Perspective ◽

10.1007/978-3-319-96598-7_17 ◽

2018 ◽

pp. 205-216

Author(s):

Zbigniew Koruba ◽

Daniel Gapiński ◽

Piotr Szmidt

Keyword(s):

Inverse Dynamics ◽

Dynamics Analysis ◽

Inverse Dynamics Analysis ◽

Missile System

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A Well-Posed, Embedded Constraint Representation of Joint Moments From Kinesiological Measurements

Journal of Biomechanical Engineering ◽

10.1115/1.1286677 ◽

2000 ◽

Vol 122 (4) ◽

pp. 437-445 ◽

Cited By ~ 4

Author(s):

Behzad Dariush ◽

Hooshang Hemami ◽

Mohamad Parnianpour

Keyword(s):

Inverse Dynamics ◽

Force Plate ◽

Dynamics Analysis ◽

Noise Levels ◽

Joint Moments ◽

Planar System ◽

Open Chain ◽

Inverse Dynamics Analysis ◽

Well Posed ◽

Dynamics Method

Joint moment estimation using the traditional inverse dynamics analysis presents two challenging problems, which limit its reliability. First, the quality of the computed moments depends directly on unreliable estimates of the segment accelerations obtained numerically by differentiating noisy marker measurements. Second, the representation of joint moments from combined video and force plate measurements belongs to a class of ill-posed problems, which does not possess a unique solution. This paper presents a well-posed representation derived from an embedded constraint equation. The proposed method, referred to as the embedded constraint representation (ECR), provides unique moment estimates, which satisfy all measurement constraints and boundary conditions and require fewer acceleration components than the traditional inverse dynamics method. Specifically, for an n-segment open chain planar system, the ECR requires n−3 acceleration components as compared to 3n−1 components required by the traditional (from ground up) inverse dynamics analysis. Based on a simulated experiment using a simple three-segment model, the precision of the ECR is evaluated at different noise levels and compared to the traditional inverse dynamics technique. At the lowest noise levels, the inverse dynamics method is up to 50 percent more accurate while at the highest noise levels the ECR method is up to 100 percent more accurate. The ECR results over the entire range of noise levels reveals an average improvement on the order 20 percent in estimating the moments distal to the force plate and no significant improvement in estimating moments proximal to the force plate. The new method is particularly advantageous in a combined video, force plate, and accelerometery sensing strategy. [S0148-0731(00)01904-X]

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