A non-recursive Lagrangian solution of the non-causal inverse dynamics of flexible multibody systems: The planar case

✍ Scribed by Ragnar Ledesma; Eduardo Bayo

• Publisher: John Wiley and Sons
• Year: 1993
• Tongue: English
• Weight: 942 KB
• Volume: 36
• Category: Article
• ISSN: 0029-5981
• DOI: 10.1002/nme.1620361604

✦ Synopsis

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive Lagrangian approach is used in formulating the equations of motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.