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Computational Reference Dynamical Model of a Multibody System With First Order Constraints

[+] Author Affiliations
Elżbieta Jarzębowska

Warsaw University of Technology, Warsaw, Poland

Krzysztof Augustynek, Andrzej Urbaś

University of Bielsko-Biala, Willowa, Poland

Paper No. DETC2017-67969, pp. V006T10A016; 8 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5820-2
  • Copyright © 2017 by ASME


The paper presents a development of a computational based procedure for generation of constrained system dynamical models. The constraints may be both holonomic and first order nonholonomic, either material or nonmaterial. The latter ones are referred to as programmed and they are imposed by a designer, a control engineer as a control goal, or may come from controlled system performance requirements. The procedure for generation of constrained dynamics provides then reference dynamical models, i.e. models whose solutions satisfy all the constraints put upon them. These models may serve as motion planners for control. The distinctions between the presented approach and the ones reported in the literature are that the constraints may be material or nonmaterial and the final equations of motion are derived in the reduced state form, i.e. constraint reaction forces are eliminated at the equations derivation level but not afterwards as in the case of the Lagrange approach. This is the essential advantage of our approach and this one computational procedure may serve both reference and control oriented dynamical models derivation. The procedure is applied to a manipulator model whose end effector is subjected to a programmed constrained.

Copyright © 2017 by ASME



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