A Lagrangian approach to the non-causal inverse dynamics of flexible multibody systems: The three-dimensional case

✍ Scribed by Ragnar Ledesma; Eduardo Bayo

• Publisher: John Wiley and Sons
• Year: 1994
• Tongue: English
• Weight: 1016 KB
• Volume: 37
• Category: Article
• ISSN: 0029-5981
• DOI: 10.1002/nme.1620371909

✦ Synopsis

This paper addresses the problem of end-point trajectory tracking in flexible multibody systems through the use of inverse dynamics. A global Lagrangian approach is employed in formulating the system equations of motion, and an iterative procedure is proposed to achieve end-point trajectory tracking in three-dimensional, flexible multibody systems. Each iteration involves firstly, a recursive inverse kinematics procedure wherein elastic displacements are determined in terms of the rigid body co-ordinates and Lagrange multipliers, secondly, an explicit computation of the inverse dynamic joint actuation, and thirdly, a nonrecursive forward dynamic analysis wherein generalized co-ordinates and Lagrange multipliers are determined in terms of the joint actuation and desired end-point co-ordinates. In contrast with the recursive methods previously proposed, this new method is the most general since it is suitable for both openchain and closed-chain configurations of three-dimensional multibody systems. The algorithm yields stable, non-causal actuating joint torques and associated Lagrange multipliers that account for the constraint forces between flexible multibody components.