Lagrangian Dynamics of Open Multibody Systems with Generalized Holonomic and Nonholonomic Joints

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    Abstract

    Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to Rn. This limitation leads to singularities and other artifacts in case the configuration space has a different topology, for example in the case of ball joints or a free-floating mechanism. This paper discusses an extension of classical methods to allow for a very general class of joints, including all joints with a Lie group structure as well as nonholonomic joints.The model equations are derived using the Boltzmann-Hamel equations and have very similar structure and complexity as obtained using classical methods, but they do not suffer from singularities. Furthermore, the equations are explicit differential equations (both for holonomic and nonholonomic joints) and can be directly implemented in simulation software.
    Original languageEnglish
    Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationOmnipress
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages3342-3347
    Number of pages6
    ISBN (Print)1-4244-0912-8
    DOIs
    Publication statusPublished - Oct 2007
    Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, United States
    Duration: 29 Oct 20072 Nov 2007

    Publication series

    NameIROS
    PublisherIEEE Robotics and Automation Society
    Number7

    Conference

    Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    Abbreviated titleIROS
    CountryUnited States
    CitySan Diego
    Period29/10/072/11/07

    Keywords

    • EWI-11872
    • METIS-246002
    • IR-64616

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