Reduced-order forward dynamics of multiclosed-loop systems

DOI10.1007/S11044-013-9379-2MaRDI QIDQ487542zbMATH OpenOpenAlexFDO

Authors Majid Koul, M. Manivannan, Suril Vijaykumar Shah, Subir Kumar Saha

Publication date 22 January 2015

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-013-9379-2

zbMATH Keywords

Decoupled Natural Orthogonal Complement (DeNOC) matricesforward dynamicsLagrange multipliersmulticlosed-loop systemsNewton-Euler formulationreduced order

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60)

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Cites work

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• Dynamics of tree-type robotic systems.
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Eliminating constraint drift in the numerical simulation of constrained dynamical systems
• Elimination of constraint violation and accuracy aspects in numerical simulation of multibody systems
• scientific article; zbMATH DE number 988244 (Why is no real title available?)
• scientific article; zbMATH DE number 4096808 (Why is no real title available?)
• scientific article; zbMATH DE number 193221 (Why is no real title available?)
• Improved `order-n' performance algorithm for the simulation of constrained multi-rigid-body dynamic systems
• Methods for constraint violation suppression in the numerical simulation of constrained multibody systems - A comparative study
• Stabilization of constraints and integrals of motion in dynamical systems
• The MATLAB ODE Suite

Cited in

(2)

• Forward dynamics of open-loop multibody mechanisms using an efficient recursive algorithm based on canonical momenta
• Framework for implementing and investigating sensorless force control for collaborative manipulation using parallel robots

Describes a project that uses

Uses Software

• Matlab
• ode23
• ode45
• Ode15s
• ode113
• ode23s
• MATLAB ODE suite

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