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151.
The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution
of such a problem, formulated in the framework of optimal control theory, is a challenging issue. We prove that a real-time
solution of the constrained motion planning problem for multibody systems is possible for practical real-life applications
on standard personal computers.
The proposed method is based on an indirect approach that eliminates the inequalities via penalty formulation and solves the
boundary value problem by a combination of finite differences and Newton–Broyden algorithm. Two application examples are presented
to validate the method and for performance comparisons. Numerical results show that the approach is real-time capable if the
correct penalty formulation and settings are chosen. 相似文献
152.
Data standardization is still an open research field in multibody system (MBS) dynamics, and the lack of a standard neutral
data format to encode information about MBS models (topology, geometry, rigid and flexible body data, applied forces, type
of analysis, …) hinders the exchange and share of models between users of MBS software. Therefore, the MBS research community
should start to address the interoperability needs in this field as soon as possible. This article presents some foundations
for that task: the requirements for a neutral data format are presented, the current interoperability state in MBS dynamics
is evaluated, and two data modeling technologies (STEP and XML) are compared in order to develop a robust yet easy-to-use
neutral data format for multibody systems. An XML-based prototype implementation of such a format is proposed, demonstrating
the excellent aptitudes of XML for this task. Finally, guidelines for future standardization of multibody system data are
given. In conclusion, both STEP and XML should be combined in the future to solve the interoperability problems in multibody
system dynamics in an effective way.
Commemorative Contribution. 相似文献
153.
154.
数控机床全误差模型和误差补偿技术的研究 总被引:11,自引:2,他引:11
加工精度是数控机床必须保证的一项性能指标。提高机床精度是先进制造技术的重要课题,有误差避免和误差补偿两种方法。前者使机床造价大幅上升,而且精度的提高也有一定的限度。后者的精度提高几乎没有限制,对数控机床,计算机实时误差补偿技术是一种经济、有效的基本途径。基于多体系统理论,推导了多坐标数控机床,包含几何误差和热误差的全误差模型。文中介绍了坐标数控机床项误差的辨识方法(22线、14线和9线法),还介绍了回转坐标6项误差的辨识方法。通过软件补偿,在3坐标联动和4坐标联动数控机床上实现了几何误差和热误差的补偿。实践结果表明误差模型的准确性和补偿方法的实用性。 相似文献