scholarly journals Udwadia-Kalaba Approach for Three Link Manipulator Dynamics With Motion Constraints

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 49240-49250 ◽  
Author(s):  
Xiaolong Zhang ◽  
Ziyang Chen ◽  
Shaoping Xu ◽  
Peter X. Liu ◽  
Xiaohui Yang
Keyword(s):  
Motion Constraints ◽  
Manipulator Dynamics

UWB/IMU Integration with Adaptive Motion Constraints to Support UXO Mapping

2017 ◽  
Author(s):  
Zoltan Koppanyi ◽  
Vaclav Navratil ◽  
Haowei Xu ◽  
Charles K. Toth ◽  
Dorota Grejner-Brzezinska
Keyword(s):  
Motion Constraints ◽  
Adaptive Motion

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

scholarly journals Sensitivity of a Wave Energy Converter Dynamics Model to Nonlinear Hydrostatic Models

2015 ◽  
Author(s):  
Ryan G. Coe ◽  
Diana L. Bull
Keyword(s):  
Linear Model ◽  
Wave Energy ◽  
Three Dimensional ◽  
Wave Energy Converter ◽  
Domain Model ◽  
Interpolation Model ◽  
Surface Integral ◽  
Energy Converter ◽  
Motion Constraints ◽  
Large Improvement

A three dimensional time-domain model, based on Cummins equation, has been developed for an axisymmetric point absorbing wave energy converter (WEC) with an irregular cross section. This model incorporates a number of nonlinearities to accurately account for the dynamics of the device: hydrostatic restoring, motion constraints, saturation of the power-take-off force, and kinematic nonlinearities. Here, an interpolation model of the hydrostatic restoring reaction is developed and compared with a surface integral based method. The effects of these nonlinear hydrostatic models on device dynamics are explored by comparing predictions against those of a linear model. For the studied WEC, the interpolation model offers a large improvement over a linear model and is roughly two orders-of-magnitude less computationally expensive than the surface integral based method.

scholarly journals On path following control of nonholonomic mobile manipulators

2009 ◽  
Vol 19 (4) ◽  
pp. 561-574 ◽  
Author(s):  
Alicja Mazur ◽  
Dawid Szakiel
Keyword(s):  
Control Algorithm ◽  
Dynamic Control ◽  
Path Following ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Control Laws ◽  
Kinematic Control ◽  
Motion Constraints ◽  
Path Following Control ◽  
Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

scholarly journals Numerical Integration of Multibody Dynamic Systems Involving Nonholonomic Equality Constraints

2021 ◽  
Author(s):  
Sotirios Natsiavas ◽  
Panagiotis Passas ◽  
Elias Paraskevopoulos
Keyword(s):  
Dynamic Systems ◽  
Equations Of Motion ◽  
Time Integration ◽  
Nonholonomic Constraints ◽  
Coupled System ◽  
Weak Form ◽  
Integration Scheme ◽  
Motion Constraints ◽  
Multibody Dynamic ◽  
Time Integration Scheme

Abstract This work considers a class of multibody dynamic systems involving bilateral nonholonomic constraints. An appropriate set of equations of motion is employed first. This set is derived by application of Newton’s second law and appears as a coupled system of strongly nonlinear second order ordinary differential equations in both the generalized coordinates and the Lagrange multipliers associated to the motion constraints. Next, these equations are manipulated properly and converted to a weak form. Furthermore, the position, velocity and momentum type quantities are subsequently treated as independent. This yields a three-field set of equations of motion, which is then used as a basis for performing a suitable temporal discretization, leading to a complete time integration scheme. In order to test and validate its accuracy and numerical efficiency, this scheme is applied next to challenging mechanical examples, exhibiting rich dynamics. In all cases, the emphasis is put on highlighting the advantages of the new method by direct comparison with existing analytical solutions as well as with results of current state of the art numerical methods. Finally, a comparison is also performed with results available for a benchmark problem.

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