Dynamic motion generation for redundant systems under external constraints

Joo H. Kim, Karim Abdel-Malek, Yujiang Xiang, Jingzhou Yang, Jasbir S. Arora

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Dynamics of mechanical systems during motion usually involves reaction forces and moments due to the interaction with external objects or constraints from the environment. The problem of predicting the external reaction loads under rigid-body assumption has not been addressed extensively in the literature in terms of optimal motion planning and simulation. In this presentation, we propose a formulation of determining the external reaction loads for redundant systems motion planning. For dynamic equilibrium, the resultant reaction loads that include the effects of inertia, gravity, and general applied loads, are distributed to each contact points. Unknown reactions are determined along with the system configuration at each time step using iterative nonlinear optimization algorithm. The required actuator torques as well as the motion trajectories are obtained while satisfying given constraints. The formulation is applied to several example motions of multi-rigid-body systems such as a simple 3-degree-of-freedom welding manipulator and a highly articulated whole-body human mechanism. The example results are compared with the cases where the reactions are pre-assigned. The proposed formulation demonstrates realistic distribution of external reaction loads and the associated goal-oriented motions that are dynamically consistent.

Original languageEnglish (US)
Title of host publicationASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Pages1539-1546
Number of pages8
EditionPARTS A AND B
DOIs
StatePublished - 2010
EventASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 - Montreal, QC, Canada
Duration: Aug 15 2010Aug 18 2010

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume2

Other

OtherASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
CountryCanada
CityMontreal, QC
Period8/15/108/18/10

Keywords

  • Dynamics
  • External reaction
  • Motion planning
  • Optimization
  • Redundant system

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Kim, J. H., Abdel-Malek, K., Xiang, Y., Yang, J., & Arora, J. S. (2010). Dynamic motion generation for redundant systems under external constraints. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 (PARTS A AND B ed., pp. 1539-1546). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2, No. PARTS A AND B). https://doi.org/10.1115/DETC2010-28518