Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints

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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

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To cite the version in the repository, please use this identifier: https://doi.org/10.15488/10212

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Sum total of downloads: 59




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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.
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.
Document Type: bookPart
Publishing status: acceptedVersion
Issue Date: 2019
Appears in Collections:Fakultät für Maschinenbau

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pos. country downloads
total perc.
1 image of flag of Germany Germany 42 71.19%
2 image of flag of United States United States 4 6.78%
3 image of flag of No geo information available No geo information available 2 3.39%
4 image of flag of France France 2 3.39%
5 image of flag of China China 2 3.39%
6 image of flag of Russian Federation Russian Federation 1 1.69%
7 image of flag of Romania Romania 1 1.69%
8 image of flag of Greece Greece 1 1.69%
9 image of flag of Czech Republic Czech Republic 1 1.69%
10 image of flag of Canada Canada 1 1.69%
    other countries 2 3.39%

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