Equivalent Control of Constrained Multibody Systems |
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Authors: | Ronald L. Huston C.Q. Liu Fang Li |
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Affiliation: | (1) Department of Mechanical, Industrial, and Nuclear Engineering, University of Cincinnati, P.O. Box 210072, Cincinnati, OH, 45221-0072, U.S.A;(2) NVH Development and Engineering, CIMS 481-47-10, Daimler Chrysler Corporation, 800 Chrysler Drive, Auburn Hills, MI, 48326-2757, U.S.A |
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Abstract: | This paper investigates the title problem from the perspective ofdetermining which forcesystems, although different, will have the same dynamic effectwhen applied to a mechanical system.A procedure is presented for determining how differences incontrol force/moment input are nullifiedby constraints on the system. This in turn provides a basis foroptimal control. The theoreticaldevelopment is illustrated by a series of examples with a model ofa redundant manipulator – a constrained/controlled triple pendulum. |
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Keywords: | constrained systems constraint forces equivalent control |
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