The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb's friction: a tutorial
A Blumentals, B Brogliato… - Multibody System …, 2016 - Springer
This work deals with the existence and uniqueness of the acceleration and contact forces for
Lagrangian systems subject to bilateral and/or unilateral constraints with or without sliding …
Lagrangian systems subject to bilateral and/or unilateral constraints with or without sliding …
On the constraints violation in forward dynamics of multibody systems
It is known that the dynamic equations of motion for constrained mechanical multibody
systems are frequently formulated using the Newton–Euler's approach, which is augmented …
systems are frequently formulated using the Newton–Euler's approach, which is augmented …
Kinematics and dynamics of planar multibody systems with fully Cartesian coordinates and a generic rigid body
I Roupa, SB Goncalves, MT da Silva - Mechanism and Machine Theory, 2023 - Elsevier
This work describes in detail the theoretical basis of the fully Cartesian coordinates
formulation with a generic rigid body and evaluates its performance in the dynamic analysis …
formulation with a generic rigid body and evaluates its performance in the dynamic analysis …
On the cosimulation of multibody systems and hydraulic dynamics
The simulation of mechanical devices using multibody system dynamics (MBS) algorithms
frequently requires the consideration of their interaction with components of a different …
frequently requires the consideration of their interaction with components of a different …
State and force observers based on multibody models and the indirect Kalman filter
E Sanjurjo, D Dopico, A Luaces, MÁ Naya - Mechanical Systems and …, 2018 - Elsevier
The aim of this work is to present two new methods to provide state observers by combining
multibody simulations with indirect extended Kalman filters. One of the methods presented …
multibody simulations with indirect extended Kalman filters. One of the methods presented …
Estimation of the digging and payload forces in excavators by means of state observers
A state estimation-based approach is proposed to determine both the forces exchanged
between the soil and the bucket of a hydraulic excavator during digging tasks and the load …
between the soil and the bucket of a hydraulic excavator during digging tasks and the load …
Direct sensitivity analysis of multibody systems with holonomic and nonholonomic constraints via an index-3 augmented Lagrangian formulation with projections
D Dopico, F González, A Luaces, M Saura… - Nonlinear …, 2018 - Springer
Optimizing the dynamic response of mechanical systems is often a necessary step during
the early stages of product development cycle. This is a complex problem that requires to …
the early stages of product development cycle. This is a complex problem that requires to …
Coupled longitudinal/lateral controllers for autonomous vehicles navigation, with experimental validation
In this work, the coupled control of the lateral and the longitudinal dynamics of an
autonomous vehicle is addressed. As a first step, a multi-body modeling technique is used to …
autonomous vehicle is addressed. As a first step, a multi-body modeling technique is used to …
Computationally efficient approach for simulation of multibody and hydraulic dynamics
A realistic real-time simulation of a complex system, such as an excavator, requires detailed
description of the machinery and its components. To take into account the dynamics of entire …
description of the machinery and its components. To take into account the dynamics of entire …
A multibody-dynamics based method for the estimation of wear evolution in the revolute joints of mechanisms that considers link flexibility
M López-Lombardero, J Cuadrado, M Cabello… - … and Machine Theory, 2024 - Elsevier
Mechanical systems are subject to multiple imperfections due to manufacturing and
assembly defects, or to wear. Wear critical, because it involves degradation of the joints …
assembly defects, or to wear. Wear critical, because it involves degradation of the joints …