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A non‐recursive Lagrangian solution of the non‐causal inverse dynamics of flexible multibody systems: The planar case
Author(s) -
Ledesma Ragnar,
Bayo Eduardo
Publication year - 1993
Publication title -
international journal for numerical methods in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.421
H-Index - 168
eISSN - 1097-0207
pISSN - 0029-5981
DOI - 10.1002/nme.1620361604
Subject(s) - inverse dynamics , inverse , trajectory , inverse kinematics , control theory (sociology) , multibody system , mathematics , kinematics , inverse problem , lagrangian , planar , dynamics (music) , equations of motion , computer science , mathematical analysis , classical mechanics , control (management) , physics , geometry , artificial intelligence , computer graphics (images) , astronomy , acoustics
A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non‐causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non‐recursive Lagrangian approach is used in formulating the equations of motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open‐chain as well as closed‐chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.