Optimum impact force in motion control of multibody systems subject to inequality constraints (Q1123667)

An optimization technique used to evaluate the required impact force applied at a time step \(t_{n-1}\) such that the application of the constraints (holonomic and nonholonomic) at time \(t_ n\) are satisfied is presented. The methodology presented is applicable to both equality and inequality constraints. In the case of inequality constraints, the later are converted to equality constraints through the introduction of a clearance function found to be very useful in collision avoidance problems. This paper's objective is to address the continuity of the motion when a dynamical system is suddenly subjected to instantaneous constraint conditions. The discontinuity at both velocity and acceleration levels could be avoided by properly choosing an impact force to satisfy the constraint whenever applicable. A discussion on collision avoidance used to demonstrate the numerical procedures developed is presented. The nature of a multibody system subject to inequality constraints stems from the fact that the constraints are loose or inactive. When all the moving points (position, velocity, and acceleration) of the system are within the domain of the constraint surfaces, it remains unconstrained. If the constraints are tight or active as strict equality constraints apply, at least one of the moving points (position, velocity, and acceleration) is on the constraint surface.