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

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dc.identifier.uri http://dx.doi.org/10.15488/10212
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10284
dc.contributor.author Schappler, Moritz ger
dc.contributor.author Lilge, Torsten ger
dc.contributor.author Haddadin, Sami ger
dc.date.accessioned 2020-12-01T13:53:55Z
dc.date.available 2020-12-01T13:53:55Z
dc.date.issued 2019
dc.identifier.citation 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 ger
dc.description.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. eng
dc.language.iso eng ger
dc.publisher Cham : Springer
dc.relation.ispartof Advances in Mechanism and Machine Science ger
dc.relation.ispartofseries Mechanisms and Machine Science;73
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. ger
dc.subject dynamics eng
dc.subject closed-loop eng
dc.subject Lagrangian equations eng
dc.subject substitution variables eng
dc.subject explicit form eng
dc.subject trigonometric expressions eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints eng
dc.type bookPart ger
dc.type conferenceObject ger
dc.type Text ger
dc.relation.doi 10.1007/978-3-030-20131-9_311
dc.description.version acceptedVersion ger
tib.accessRights frei zug�nglich ger


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