Forward dynamics with constraint embedding for dynamic simulation

Zusammenfassung (Abstract) :

Dynamic simulation of multi-body systems require an efficient solution of the forward dynamics problem. This can be challenging for series-parallel hybrid robots due to presence of various loop closure constraints which might affect the computational performance and accuracy of typical solution methods. This chapter presents a recursive forward dynamics algorithm for series-parallel hybrid robots. It is an adaptation of the constraint embedding approach in articulated body algorithm originally proposed by Jain. The proposed modification exploits the Lie group formulations and allows easy implementation of recursive forward dynamics of constrained systems in state of the art multi-body solvers.

Stichworte :

dynamic simulation, series-parallel hybrid robots, articulated body algorithm, constraint embedding, forward dynamics