NDLI: Dynamic Motion Generation for Redundant Systems Under External Constraints

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Joo, H. Kim Abdel-Malek, Karim Xiang, Yujiang Yang, Jingzhou James Jasbir, S. Arora
Copyright Year	2010
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.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	1539
Ending Page	1546
Page Count	8
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-28518
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Motion planning External reaction Redundant system Dynamics Optimization Actuators Inertia (mechanics) Welding Gravity (force) Equilibrium (physics) Optimization algorithms Manipulators Path planning Stress Simulation Dynamics (mechanics) Chemical kinetics
Content Type	Text
Resource Type	Article

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