Schappler, M.; Lilge, T.; Haddadin, S.: Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. In: Uhl, T. (Ed): Advances in Mechanism and Machine Science. IFToMM WC 2019. Cham : Springer, 2019 (Mechanisms and Machine Science ; 73), S. 3157-3166. DOI:
https://doi.org/10.1007/978-3-030-20131-9_311
Abstract: |
The efficient implementation of kinematics and dynamics models is a key to model based control of mechatronic systems such as robots and wearable assistive devices. This paper presents an approach for the derivation of these models in symbolic form for constrained systems based on the explicit elimination of the kinematic constraints using substitution variables with trigonometric expressions and the Lagrange equations of the second kind. This represents an alternative solution to using the implicit form of the constraints or using the explicit elimination at comparable computational effort. The method is applied to a novel exoskeleton designed for craftsmen force assistance, which consists of multiple planar closed kinematic loops and gear mechanisms.
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License of this version: |
Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. |
Publication type: |
BookPart |
Publishing status: |
acceptedVersion |
Publication date: |
2019 |
Keywords english: |
dynamics, closed-loop, Lagrangian equations, substitution variables, explicit form, trigonometric expressions
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DDC: |
620 | Ingenieurwissenschaften und Maschinenbau
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Controlled keywords(GND): |
Konferenzschrift
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