Conference proceeding
Dynamic Motion Generation for Redundant Systems Under External Constraints
Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, Vol.2, pp.1539-1546
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, Aug. 15 - 18, 2010
01/01/2010
DOI: 10.1115/DETC2010-28518
Abstract
Dynamics of mechanical systems during motion usually involves reaction forces and moments due to the interaction with external objects or constraints from the environment. The problem of predicting the external reaction loads under rigid-body assumption has not been addressed extensively in the literature in terms of optimal motion planning and simulation. In this presentation, we propose a formulation of determining the external reaction loads for redundant systems motion planning. For dynamic equilibrium, the resultant reaction loads that include the effects of inertia, gravity, and general applied loads, are distributed to each contact points. Unknown reactions are determined along with the system configuration at each time step using iterative nonlinear optimization algorithm. The required actuator torques as well as the motion trajectories are obtained while satisfying given constraints. The formulation is applied to several example motions of multi-rigid-body systems such as a simple 3-degree-of-freedom welding manipulator and a highly articulated whole-body human mechanism. The example results are compared with the cases where the reactions are pre-assigned. The proposed formulation demonstrates realistic distribution of external reaction loads and the associated goal-oriented motions that are dynamically consistent.
Details
- Title: Subtitle
- Dynamic Motion Generation for Redundant Systems Under External Constraints
- Creators
- Joo H Kim - New York UniversityKarim Abdel-Malek - University of IowaYujiang Xiang - University of IowaJingzhou James Yang - Texas Tech UniversityJasbir S Arora - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, Vol.2, pp.1539-1546
- Conference
- ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, Aug. 15 - 18, 2010
- DOI
- 10.1115/DETC2010-28518
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2010
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Civil and Environmental Engineering; Mechanical Engineering
- Record Identifier
- 9984196603902771
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