Quaternion-Based Inverse Dynamics Model for Expressing Aerobatic Aircraft Trajectories

2009 ◽  
Vol 32 (4) ◽  
pp. 1388-1391 ◽  
Author(s):  
Rick G. Drury ◽  
James F. Whidborne
Keyword(s):  
Inverse Dynamics ◽  
Dynamics Model ◽  
Aircraft Trajectories

Estimation of Muscle Forces About the Ankle During Gait in Healthy and Neurologically Impaired Subjects

2011 ◽  
pp. 320-347
Author(s):  
Daniel N. Bassett ◽  
Joseph D. Gardinier ◽  
Kurt T. Manal ◽  
Thomas S. Buchanan
Keyword(s):  
Muscle Activation ◽  
Inverse Dynamics ◽  
Biomechanical Model ◽  
Forward Dynamics ◽  
Muscle Forces ◽  
Dynamics Model ◽  
Joint Moments ◽  
Neurologically Impaired ◽  
Model Predictions ◽  
Contraction Dynamics

This chapter describes a biomechanical model of the forces about the ankle joint applicable to both unimpaired and neurologically impaired subjects. EMGs and joint kinematics are used as inputs and muscle forces are the outputs. A hybrid modeling approach that uses both forward and inverse dynamics is employed and physiological parameters for the model are tuned for each subject using optimization procedures. The forward dynamics part of the model takes muscle activation and uses Hill-type models of muscle contraction dynamics to estimate muscle forces and the corresponding joint moments. Inverse dynamics is used to calibrate the forward dynamics model predictions of joint moments. In this chapter we will describe how to implement an EMG-driven hybrid forward and inverse dynamics model of the ankle that can be used in healthy and neurologically impaired people.

Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator

2013 ◽  
Vol 415 ◽  
pp. 519-523
Author(s):  
Li Wen Guan ◽  
Cheng Long Mu ◽  
Yu Jian Hu
Keyword(s):  
Numerical Simulation ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Comprehensive Analysis ◽  
Dynamics Model ◽  
Set Up

This paper analyzes the dynamic modeling and workplace of the 3T cable-driven parallel manipulator. The mechanism utilizes four cables to driven. Firstly, the kinematics equations and the inverse dynamics model were set up for the analysis. And then, pseudo-drag is a serious problem in cable-driven parallel manipulator, this paper give a method to find the workplace under the condition of pseudo-drag. Finally, through numerical simulation, the workplace of the mechanism satisfying the demand is presented by comprehensive analysis.

Trajectory Pattern Method Based Trajectory Synthesis and Inverse Dynamics Formulation for Minimal Vibrational Excitation for Flexible Structures

1996 ◽  
Author(s):  
Q. Tu ◽  
J. Rastegar
Keyword(s):  
Inverse Dynamics ◽  
Vibrational Excitation ◽  
Flexible Structures ◽  
Frequency Component ◽  
High Frequency Component ◽  
Flexible Beam ◽  
Dynamics Model ◽  
Trajectory Pattern ◽  
Point To Point ◽  
Trajectory Pattern Method

Abstract A new approach to trajectory synthesis and formulation of the inverse dynamics model of flexible structures for point to point motions with minimal high frequency component of the actuating torques (forces) is presented. Trajectories are synthesized such that the flexible structure comes to rest undeformed at the completion of motion. The developed method is based on the Trajectory Pattern Method. In this approach, an appropriate trajectory pattern is selected and described in parametric form. The inverse dynamics model of the system is formulated in terms of the trajectory parameters. The trajectory patterns used are in terms of a number of basic sinusoidal time functions and their harmonics. The basic frequencies are selected such that the harmonics appearing in the actuating torques do not excite the natural modes of vibration of the system. For each motion, the trajectory parameters are determined for minimal amplitudes of the higher actuating torque harmonics, noting that from the vibration and control points of view, such trajectories are more desirable. The higher harmonics refers to the harmonics of the actuating torques with frequencies above the highest trajectory harmonic frequency. As an example, a flexible beam undergoing large displacements and rotations in a plane is considered. The effectiveness of the approach is illustrated by an example.

Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 687-702 ◽  
Author(s):  
Bo Hu ◽  
Jingjing Yu ◽  
Yi Lu
Keyword(s):  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Virtual Work ◽  
Principle Of Virtual Work ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Velocity Mapping

SUMMARYThe inverse dynamics model of a novel (3-UPU)+(3-UPS+S) serial–parallel manipulator (S-PM) formed by a 3-UPU PM and a 3-UPS+S PM connected in serial is studied in this paper. First, the inverse position, velocity, and acceleration of this S-PM are studied systematically. Second, the velocity mapping relations between each component and the terminal platform of (3-UPU)+(3-UPS+S) S-PM are derived. Third, the dynamics model of the whole (3-UPU)+(3-UPS+S) S-PM is established by means of the principle of virtual work. The process for establishing the dynamics model of this S-PM is fit for other S-PMs.

An upper extremity inverse dynamics model for pediatric Lofstrand crutch-assisted gait

2011 ◽  
Vol 44 (11) ◽  
pp. 2162-2167 ◽  
Author(s):  
Brooke A. Slavens ◽  
Neha Bhagchandani ◽  
Mei Wang ◽  
Peter A. Smith ◽  
Gerald F. Harris
Keyword(s):  
Upper Extremity ◽  
Inverse Dynamics ◽  
Dynamics Model

Mechanical Impedance Control of Cooperative Robot During Object Manipulation Based on External Force Estimation Using Recurrent Neural Network

2020 ◽  
Vol 08 (03) ◽  
pp. 239-251
Author(s):  
Misaki Hanafusa ◽  
Jun Ishikawa
Keyword(s):  
Neural Network ◽  
External Force ◽  
Recurrent Neural Network ◽  
Inverse Dynamics ◽  
Impedance Control ◽  
Mechanical Impedance ◽  
Object Manipulation ◽  
Force Estimation ◽  
Dynamics Model ◽  
Compliant Motion

This paper proposes a compliant motion control for human-cooperative robots to absorb collision force when persons accidentally touch the robots even while the robot is manipulating an object. In the proposed method, an external force estimator, which can distinguish the net external force from the object manipulation force, is realized using an inverse dynamics model acquired by a recurrent neural network (RNN). By implementing a mechanical impedance control to the estimated external force, the robot can quickly and precisely carry the object keeping the mechanical impedance control functioned and can generate a compliant motion to the net external force only when the person touches it during manipulation. Since the proposed method estimates the external force from the generalized force based on the learned inverse dynamics, it is not necessary to install any sensors on the manipulated object to measure the external force. This allows the robot to detect the collision even when the person touches anywhere on the manipulated object. The RNN inverse dynamics model is evaluated by the leave-one-out cross-validation and it was found that it works well for unknown trajectories excluded from the learning process. Although the details were omitted due to the limitation of the page length, similar to the simulations, the RNN inverse dynamics model was evaluated using unknown trajectories in the six degree-of-freedom experiments, and it has been verified that it functions properly even for the unknown trajectories. Finally, the validity of the proposed method has been confirmed by experiments in which a person touches a robot while it is manipulating an object with six degrees of freedom.

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