Multibody Dynamics

Kane, T. R.; Levinson, David A.

doi:10.1115/1.3167189

Cited by 85 publications

(24 citation statements)

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“…In this set of equations which follows Kane's convention [20], the first six rows are actuation-less (τ 1..6 = 0) and describe global frame dynamics of the floating based robot. Apart from dynamics equations, we also have to consider fixed contact constraints:J…”

Section: Methodsmentioning

confidence: 99%

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Faraji

Ijspeert

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and associate them to an unknown external force. Then by decomposing Jacobians, we search over the surface of all body links in the robot to find the force application point. By approximating link geometries with ellipsoids, we can derive analytic solutions to solve the search problem very fast in real time. The proposed approach is tested on a complex humanoid robot in simulations where it outperforms static estimators over fast dynamic motions. We foresee a lot of applications for this method especially in human-robot interactions where it can serve as a whole body virtual suit of tactile sensors. It can also be very useful in identifying the inertial properties of objects being manipulated or mounted on the robot like a backpack.

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Section: Methodsmentioning

confidence: 99%

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Faraji

Ijspeert

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…There are several different methods in MBS, such as Wittenburg [1] , Kane & Huston [2] , Schiehlen [3] , etc. From the later 1990s, aiming at establishing modular or hierarchical method, there have been some new developments on modeling and computation of MBS.…”

Section: State-of-the-artmentioning

confidence: 99%

Composite modeling method in dynamics of planar mechanical system

Wang

Lin

Lai

2008

Sci. China Ser. E-Technol. Sci.

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This paper presents a composite modeling method of the forward dynamics in general planar mechanical system. In the modeling process, the system dynamic model is generated by assembling the model units which are kinematical determinate in planar mechanisms rather than the body/joint units in multi-body system. A state space formulation is employed to model both the unit and system models. The validation and feasibility of the method are illustrated by a case study of a four-bar mechanism. The advantage of this method is that the models are easier to reuse and the system is easier to reconfigure. The formulation reveals the relationship between the topology and dynamics of the planar mechanism to some extent.planar mechanism, dynamics, modeling, topology Dynamic performance simulation is one of the important phases in evaluation of a new mechanical system design scheme. The modeling method in the dynamics is the key in simulation, for it impacts the accuracy of the model and efficiency of simulation. A complex mechanical system is usually composed of many basic elements which form modular and multi-layer structures. The challenge on modeling and simulation of this kind of mechanical systems is how to promote the modeling accuracy and efficiency. The key lies on creating such unit models that can be reused and such system models that can be reconstructed easily according to the topology of the mechanism.Nowadays, the basis of modeling a complex mechanical system is the multi-body system (MBS) dynamics. However, the existing modeling methods need to be improved in the following aspects: 1) to support model reuse: It is very convenient to reuse the existing model in most of the simulation platforms in control and circuit systems. However, there is no such counterpart in pure mechanical system. 2) to cover the gap between mechanism topology and its dynamic model: One of the goals of mechanism research is to establish a general method for synthesis, kinematics

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“…Kane's method enjoys widespread application in the areas of multibody dynamics (Ref. [32]), dynamics of complex spacecraft (Refs. [31] and [33]), and robotic devices (Ref.…”

Section: Equations Of Motion For Complex Nonholonomic Systemsmentioning

confidence: 99%

Forces associated with non-linear non-holonomic constraint equations

Roithmayr

Hodges

2010

International Journal of Non-Linear Mechanics

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A concise method has been formulated for identifying a set of forces needed to constrain the behavior of a mechanical system, modeled as a set of particles and rigid bodies, when it is subject to motion constraints described by nonholonomic equations that are inherently nonlinear in velocity. An expression in vector form is obtained for each force; a direction is determined, together with the point of application. This result is a consequence of expressing constraint equations in terms of dot products of vectors rather than in the usual way, which is entirely in terms of scalars and matrices. The constraint forces in vector form are used together with two new analytical approaches for deriving equations governing motion of a system subject to such constraints. If constraint forces are of interest they can be brought into evidence in explicit dynamical equations by employing the well-known nonholonomic partial velocities associated with Kane's method; if they are not of interest, equations can be formed instead with the aid of vectors introduced here as nonholonomic partial accelerations. When the analyst requires only the latter, smaller set of equations, they can be formed directly; it is not necessary to expend the labor to form the former, larger set first and subsequently perform matrix multiplications.

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Multibody Dynamics

Cited by 85 publications

References 0 publications

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Composite modeling method in dynamics of planar mechanical system

Forces associated with non-linear non-holonomic constraint equations

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