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Alternative approaches to the incorporation of control constraints in multibody dynamics
Author(s) -
Yang Yinping,
Betsch Peter
Publication year - 2012
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201210023
Subject(s) - underactuation , holonomic constraints , multibody system , projection (relational algebra) , control theory (sociology) , degrees of freedom (physics and chemistry) , differential algebraic equation , generalized coordinates , holonomic , computer science , equations of motion , mathematics , control (management) , differential equation , ordinary differential equation , algorithm , mathematical analysis , artificial intelligence , classical mechanics , physics , quantum mechanics
Abstract Control constraints can be used to prescribe the motion in the inverse dynamics of multibody systems. If the number of control inputs is lower than the degrees of freedom, this kind of mechanical system is called underactuated system. The solution of such partly specified system is a challenging task due to the underactuation property. The description of underactuated systems can be based on either minimal coordinates or redundant coordinates. The resulting governing equations show the form of differential‐algebraic equations (DAEs) with a mixed set of holonomic and control constraints. The index of the DAEs may exceed three and alternative projection methods will be applied to reduce the index to three. Numerical examples are used to compare the alternative projection methods. (© 2012 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)