scholarly journals Unrestricted General Solution of 6DoF Inverse Dynamics Problem of a 3D Guided Glider

2020 ◽  
Vol 7 (3) ◽  
pp. 465-475
Author(s):  
Abdallah M. Elsherbiny ◽  
Amgad M. Bayoumy ◽  
Ahmed M. Elshabka ◽  
Mohamed M. Abdelrahman
Keyword(s):  
General Solution ◽  
Inverse Dynamics ◽  
Inverse Dynamics Problem

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

Static optimal estimation of joint accelerations for inverse dynamics problem solution

2002 ◽  
Vol 35 (11) ◽  
pp. 1507-1513 ◽  
Author(s):  
Violaine Cahouët ◽  
Martin Luc ◽  
Amarantini David
Keyword(s):  
Inverse Dynamics ◽  
Optimal Estimation ◽  
Problem Solution ◽  
Inverse Dynamics Problem

Orientation Control Using Oscillating Momentum Wheels

2015 ◽  
Author(s):  
Shaoqian Wang ◽  
Amir H. Ghasemi ◽  
Joshua L. Evans ◽  
T. Michael Seigler
Keyword(s):  
Closed Loop ◽  
Inverse Dynamics ◽  
The Body ◽  
Rotational Dynamics ◽  
Fixed Frequency ◽  
Internal Momentum ◽  
Control Techniques ◽  
Sinusoidal Oscillations ◽  
Fixed Axis ◽  
Inverse Dynamics Problem

This paper addresses the problem of controlling a rigid body’s orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each body-fixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

Assessment of Internal Loads in the Joints of the Lower Extremities During the Snatch in Young Weightlifters

2019 ◽  
Vol 19 (05) ◽  
pp. 1941011
Author(s):  
Adam Czaplicki ◽  
Krzysztof Dziewiecki ◽  
Zenon Mazur ◽  
Wojciech Blajer
Keyword(s):  
Inverse Dynamics ◽  
Sagittal Plane ◽  
Lower Extremities ◽  
Lower Limbs ◽  
Muscle Forces ◽  
Kinematic Data ◽  
Lower Trunk ◽  
Left And Right ◽  
Ground Reactions ◽  
Inverse Dynamics Problem

The aim of this paper is to present the results of an assessment of internal loads in the joints of the lower limbs during the snatch performed by young weightlifters. A planar model of a weightlifter composed of 7 rigid segments (the lower trunk, thighs, lower legs and feet) connected by six hinge joints was used in the computations. The dynamic equations of the motion of the model were obtained using a projective technique. Kinematic data were recorded by a Vicon system with a sampling frequency of 200 Hz. The ground reactions were measured independently for the left and right limbs on two force platforms. The inverse dynamics problem was solved to assess the internal loads (the muscle forces and joint reactions) in the lower limbs. Relatively high differences in the reactions in the joints and muscle forces in the left and right lower extremities were identified. The obtained results also reveal that the snatch, a lift which tends to be geometrically symmetrical in the sagittal plane, is not necessarily characterized by symmetry of internal loads. Thus, this study has shown that a kinematics analysis of the lifter’s movement, which is commonly used to assess the technique of the snatch, is insufficient and should be supplemented with a dynamics analysis.

Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories

1997 ◽  
Vol 119 (3) ◽  
pp. 396-404 ◽  
Author(s):  
H. C. Moulin ◽  
E. Bayo
Keyword(s):  
High Frequency ◽  
Inverse Dynamics ◽  
Numerical Procedure ◽  
Continuous System ◽  
Continuous Model ◽  
Discrete Models ◽  
Frequency Range ◽  
Model Order ◽  
Inverse Dynamics Problem ◽  
Tip Mass

The inverse dynamics problem for a single link flexible arm is considered. The tracking order of consistent and lumped finite element models is derived and compared with the tracking order of the continuous model when there is no tip-mass. These comparisons show that discrete models fail to identify the tracking order of a modelled continuous system. A frequency domain analysis shows that an increase in the model order extends the well-modelled low-frequency range and, at the same time, increases the inadequacy in the high-frequency range. As a result, inverse dynamics solutions computed with discrete models do not converge to the continuous solution as the model order increases. The use of high-frequency filters allows us to construct a convergent numerical procedure. A conjecture about the tracking order is presented when there is a tip mass. It is shown that the same results are obtained if superposition of modes rather than finite elements is used.

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