Computer-Oriented Closed-Form Algorithm for Constrained Multibody Dynamics for Robotics Applications
Document Type
Article
Publication Date
4-1-1994
Abstract
An alternative computer-oriented algorithm for generating the equations of motion for constrained multibody systems subject to control is presented. The algorithm is derived from the principle of virtual work and includes the effect of a moving reference frame. The equations of motion are expanded in a closed form in terms of a minimum set of variables. Symbolic implementation, simplification and linearization are discussed. Computer-based models of a biped robot walking on a vibrating platform are generated. Dynamic behavior of the biped is simulated by implementing the optimal control theory. The study shows that this closed-form formalism holds promise in the simulation of constrained robotic systems.
Repository Citation
Lieh, J.
(1994). Computer-Oriented Closed-Form Algorithm for Constrained Multibody Dynamics for Robotics Applications. Mechanism and Machine Theory, 29 (3), 357-371.
https://corescholar.libraries.wright.edu/mme/737
DOI
10.1016/0094-114X(94)90123-6
