Unpublished conference/Abstract (Scientific congresses and symposiums)
Two optimal control methods for the inverse dynamics of underactuated multibody systems
Guimaraes Bastos Junior, Guaraci; Seifried, Robert; Bruls, Olivier
20115th International Conference on Advanced Computational Methods in Engineering (ACOMEN)
 

Files


Full Text
BastosSeifriedBruls_abstractAcomen2011.pdf
Publisher postprint (11.03 kB)
Request a copy

All documents in ORBi are protected by a user license.

Send to



Details



Abstract :
[en] The inverse dynamics analysis of underactuated multibody systems aims at determining the control inputs in order to track a prescribed trajectory. This work studies the inverse dynamics of non-minimum phase underactuated multibody systems, e.g. for end-effector control of flexible manipulators or manipulators with passive joints. Unlike for minimum phase systems, the inverse dynamics of non-minimum phase systems cannot be solved by adding trajectory constraints to the equations of motion and by applying a forward time integration. Indeed, the inverse dynamics of a non-minimum phase system is known to be non-causal, which means that the control forces and torques should start before the beginning of the trajectory (pre-actuation phase) and continue after the end-point is reached (post-actuation phase). The existing stable inversion method proposed for general nonlinear non-minimum phase systems requires to derive explicitly the equations of the internal dynamics and to solve a boundary value problem. In this work, an alternative solution strategy is proposed which is based on an optimal control approach. More precisely, the direct collocation method and the multiple shooting are considered to solve the resulting optimization problem. The method is illustrated for the inverse dynamics of rigid and flexible underactuated mechanisms. An important advantage of the proposed approach is that it can be applied directly to the standard equations of motion of multibody systems either in ODE or in DAE form. Therefore, it is easier to implement this method in a general purpose simulation software.
Disciplines :
Mechanical engineering
Author, co-author :
Guimaraes Bastos Junior, Guaraci ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Seifried, Robert;  University of Stuttgart > Institute of Engineering and Computational Mechanics
Bruls, Olivier  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
Two optimal control methods for the inverse dynamics of underactuated multibody systems
Publication date :
November 2011
Event name :
5th International Conference on Advanced Computational Methods in Engineering (ACOMEN)
Event place :
Liège, Belgium
Event date :
Novembre 2011
Audience :
International
Available on ORBi :
since 10 May 2012

Statistics


Number of views
142 (14 by ULiège)
Number of downloads
1 (1 by ULiège)

Bibliography


Similar publications



Contact ORBi