Review of classical approaches for constraint enforcement in multibody systems
A Laulusa, OA Bauchau - 2008 - asmedigitalcollection.asme.org
A hallmark of multibody dynamics is that most formulations involve a number of constraints.
Typically, when redundant generalized coordinates are used, equations of motion are …
Typically, when redundant generalized coordinates are used, equations of motion are …
[图书][B] Flexible multibody dynamics
OA Bauchau - 2011 - Springer
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Optimal distribution of contact forces with inverse-dynamics control
The development of legged robots for complex environments requires controllers that
guarantee both high tracking performance and compliance with the environment. More …
guarantee both high tracking performance and compliance with the environment. More …
Inverse dynamics control of floating-base robots with external constraints: A unified view
Inverse dynamics controllers and operational space controllers have proved to be very
efficient for compliant control of fully actuated robots such as fixed base manipulators …
efficient for compliant control of fully actuated robots such as fixed base manipulators …
Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics
FE Udwadia, P Phohomsiri - Proceedings of the Royal …, 2006 - royalsocietypublishing.org
We present the new, general, explicit form of the equations of motion for constrained
mechanical systems applicable to systems with singular mass matrices. The systems may …
mechanical systems applicable to systems with singular mass matrices. The systems may …
Robust approximate constraint following control for SCARA robots system with uncertainty and experimental validation
S Zhen, C Meng, H Xiao, X Liu, YH Chen - Control Engineering Practice, 2023 - Elsevier
In the context of mechanical systems characterized by nonlinearity, uncertainty, and
unknown external disturbances, this paper presents a novel and practical robust control …
unknown external disturbances, this paper presents a novel and practical robust control …
A natural absolute coordinate formulation for the kinematic and dynamic analysis of rigid multibody systems
CM Pappalardo - Nonlinear Dynamics, 2015 - Springer
The purpose of this paper was to present the key features of a novel coordinate formulation
for the analytical description of the motion of rigid multibody systems, namely the natural …
for the analytical description of the motion of rigid multibody systems, namely the natural …
[图书][B] Rigid body mechanics: mathematics, physics and applications
WB Heard - 2008 - books.google.com
This textbook is a modern, concise and focused treatment of the mathematical techniques,
physical theories and applications of rigid body mechanics, bridging the gap between the …
physical theories and applications of rigid body mechanics, bridging the gap between the …
Vehicle motion control under equality and inequality constraints: a diffeomorphism approach
This study addresses the problem of vehicle lateral and yaw motion control when both
equality and inequality (ie, bilateral and unilateral) constraints are involved. By using the …
equality and inequality (ie, bilateral and unilateral) constraints are involved. By using the …
Optimal tracking control of nonlinear dynamical systems
FE Udwadia - Proceedings of the Royal Society A …, 2008 - royalsocietypublishing.org
This paper presents a simple methodology for obtaining the entire set of continuous
controllers that cause a nonlinear dynamical system to exactly track a given trajectory. The …
controllers that cause a nonlinear dynamical system to exactly track a given trajectory. The …