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Closed-form time derivatives of the equations of motion of rigid body systems
- Source :
- Multibody System Dynamics. 53:257-273
- Publication Year :
- 2021
- Publisher :
- Springer Science and Business Media LLC, 2021.
-
Abstract
- Derivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.
- Subjects :
- Control and Optimization
Computer science
business.industry
Mechanical Engineering
Dynamics (mechanics)
0211 other engineering and technologies
Aerospace Engineering
Equations of motion
Parameterized complexity
Lie group
Robotics
02 engineering and technology
Rigid body
01 natural sciences
Computer Science Applications
Control theory
Modeling and Simulation
0103 physical sciences
Robot
Torque
Artificial intelligence
business
010301 acoustics
021106 design practice & management
Subjects
Details
- ISSN :
- 1573272X and 13845640
- Volume :
- 53
- Database :
- OpenAIRE
- Journal :
- Multibody System Dynamics
- Accession number :
- edsair.doi...........bb3018ad20f420318cc3b6145fee1c98