Numerical Solution for Manipulator Forward Dynamics BVPs

Volume 1B: 25th Biennial Mechanisms Conference ◽

10.1115/detc98/mech-5872 ◽

1998 ◽

Author(s):

Hajrudin Pasic ◽

Robert L. Williams ◽

Chunwu Hui

Keyword(s):

Lipschitz Constant ◽

Iterative Solution ◽

Iteration Scheme ◽

Forward Dynamics ◽

Collocation Technique ◽

General Systems ◽

Dynamics And Control ◽

Systems Of Odes ◽

Local Solutions ◽

And Control

Abstract A new algorithm is presented for iterative solution of systems of nonlinear ordinary differential equations (ODEs) with any order for multibody dynamics and control problems. The collocation technique (based on the explicit fixed-point iteration scheme) may be used for solving both initial value problems (IVPs) and boundary value problems (BVPs). The BVP is solved by first transforming it into the IVP. If the Lipschitz constant is large and the algorithm diverges in a single (‘long’) domain, the domain is partitioned into a number of subdomains and the local solutions of the corresponding BVPs are matched either locally (in parallel) or globally. The technique is general and may be applied to general systems of ODEs in any field. As an illustration, the forward dynamics problem of a manipulator is solved as an IVP and then as a BVP.

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Model of Dynamics and Control of Tracking-Searching Head, Placed on a Moving Object

Journal of Automation and Information Sciences ◽

10.1615/jautomatinfscien.v44.i5.40 ◽

2012 ◽

Vol 44 (5) ◽

pp. 38-47 ◽

Cited By ~ 7

Author(s):

I. Krzysztofik ◽

Z. Koruba

Keyword(s):

Moving Object ◽

Dynamics And Control ◽

And Control

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PROJECT ON ELECTRONIC STEERING SYSYTEM

SMART MOVES JOURNAL IJOSCIENCE ◽

10.24113/ijoscience.v4i5.140 ◽

2018 ◽

Vol 4 (5) ◽

pp. 7

Author(s):

Shivam Dwivedi ◽

Prof. Vikas Gupta

Keyword(s):

Steering System ◽

Essential Elements ◽

Variable Pressure ◽

Passenger Cars ◽

Control Techniques ◽

Steering Mechanism ◽

Dynamics And Control ◽

Active Research ◽

Electronic Steering ◽

And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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