Modeling of control forces for kinematical constraints in the dynamics of multibody systems : A new approach
- Ider, Sitki Kemal
- Dec 15, 1989.
- Physical Description:
- 1 electronic document
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
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- Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.
- Other Subject(s):
- NASA Technical Reports Server (NTRS) Collection.
- Document ID: 19900013715.
Accession ID: 90N23031.
JPL, Proceedings of the 3rd Annual Conference on Aerospace Computational Control, Volume 1; p 382-393.
- No Copyright.
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