Inverse Dynamics for Discrete Geometric Mechanics of Multibody Systems with Application to Direct Optimal Control
Artikel i vetenskaplig tidskrift, 2018

In this paper, we present efficient algorithms for computation of the residual of the constrained discrete Euler-Lagrange (DEL) equations of motion for tree structured, rigid multibody systems. In particular, we present new recursive formulas for computing partial derivatives of the kinetic energy. This enables us to solve the inverse dynamics problem of the discrete system with linear computational complexity. The resulting algorithms are easy to implement and can naturally be applied to a very broad class of multibody systems by imposing constraints on the coordinates by means of Lagrange multipliers. A comparison is made with an existing software package, which shows a drastic improvement in computational efficiency. Our interest in inverse dynamics is primarily to apply direct transcription optimal control methods to multibody systems. As an example application, we present a digital human motion planning problem, which we solve using the proposed method. Furthermore, we present detailed descriptions of several common joints, in particular singularity-free models of the spherical joint and the rigid body joint, using the Lie groups of unit quaternions and unit dual quaternions, respectively.

Författare

Staffan C Björkenstam

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Sigrid Leyendecker

Friedrich-Alexander-Universität Erlangen Nurnberg (FAU)

Joachim Linn

Fraunhofer-Institut fur Techno- und Wirtschaftsmathematk

Johan Carlson

Stiftelsen Fraunhofer-Chalmers Centrum för Industrimatematik

Bengt Lennartson

Chalmers, Elektroteknik, System- och reglerteknik

Journal of Computational and Nonlinear Dynamics

1555-1415 (ISSN) 1555-1423 (eISSN)

Vol. 13 10 101001

Styrkeområden

Produktion

Ämneskategorier

Beräkningsmatematik

Reglerteknik

Datavetenskap (datalogi)

DOI

10.1115/1.4040780

Mer information

Senast uppdaterat

2018-12-10