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 …
Evolutionary sparse data-driven discovery of multibody system dynamics
E Askari, G Crevecoeur - Multibody System Dynamics, 2023 - Springer
The value of unknown parameters of multibody systems is crucial for prediction, monitoring,
and control, sometimes estimated using a biased physics-based model leading to incorrect …
and control, sometimes estimated using a biased physics-based model leading to incorrect …
Efficient formulation of the Gibbs–Appell equations for constrained multibody systems
SM Mirtaheri, H Zohoor - Multibody System Dynamics, 2021 - Springer
In this study, we present explicit equations of motion for general mechanical systems
exposed to holonomic and nonholonomic constraints based on the Gibbs-Appell …
exposed to holonomic and nonholonomic constraints based on the Gibbs-Appell …
On the use of two-dimensional Euler parameters for the dynamic simulation of planar rigid multibody systems
CM Pappalardo, D Guida - Archive of Applied Mechanics, 2017 - Springer
This paper introduces a new coordinate formulation for the kinematic and dynamic analysis
of planar multibody systems composed of rigid bodies. The methodology presented in this …
of planar multibody systems composed of rigid bodies. The methodology presented in this …
System identification and force estimation of robotic manipulator using semirecursive multibody formulation
Force estimation in multibody dynamics relies heavily on knowing the system model with a
high level of accuracy. However, in complex mechatronic systems, such as robots or mobile …
high level of accuracy. However, in complex mechatronic systems, such as robots or mobile …
Inertial parameter identification for closed-loop mechanisms: Adaptation of linear regression for coordinate partitioning
L Pyrhönen, T Willems… - Journal of …, 2024 - asmedigitalcollection.asme.org
This study investigates the use of linear-regression-based identification in rigid multibody
system applications. A multibody system model, originally described with differential …
system applications. A multibody system model, originally described with differential …
A constraint violation suppressing formulation for spatial multibody dynamics with singular mass matrix
J Zhang, D Liu, Y Liu - Multibody System Dynamics, 2016 - Springer
The constraint violation problem of spatial multibody systems is analyzed in this paper. The
mass matrix is singular in the equations of motion when the Euler parameters with the …
mass matrix is singular in the equations of motion when the Euler parameters with the …
Using a Bayesian-inference approach to calibrating models for simulation in robotics
In robotics, simulation has the potential to reduce design time and costs, and lead to a more
robust engineered solution and a safer development process. However, the use of …
robust engineered solution and a safer development process. However, the use of …
A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators
G Bastos Jr - Optimal Control Applications and Methods, 2022 - Wiley Online Library
This study aims to develop a methodology for parametric estimation of flexible manipulators
considering an equivalent underactuated manipulator with passive joints, which should …
considering an equivalent underactuated manipulator with passive joints, which should …
Parameter estimation for multibody system dynamic model of delta robot from experimental data
Delta robot is a type of parallel systems which has a complex nonlinear structure suitable to
apply different mathematical algorithms. In recent years, researchers have been focused on …
apply different mathematical algorithms. In recent years, researchers have been focused on …