A new approach to the numerical solution of constrained mechanical system dynamics

Author

Keerthi, S.S. ; Sudarsan, R. ; Sancheti, N.K.

Author_Institution

Dept. of Comput. Sci. & Atom., Indian Inst. of Sci., Bangalore, India

fYear

1992

fDate

12-14 May 1992

Firstpage

293

Abstract

A novel approach to the numerical solution of the vector field associated with constrained mechanical systems, called the perturbation approach, is introduced. It is a specialization of a method of solving general vector fields due to Shampine. The perturbation approach has several advantages over other approaches. The performance of the approaches on a constrained robot problem is used to show the efficacy of the new approach

Keywords

dynamics; mechanical engineering; numerical analysis; perturbation techniques; robots; Shampine; constrained mechanical system dynamics; constrained robot; numerical solution; perturbation; vector field; Aerodynamics; Aerospace simulation; Automation; Computer science; Equations; Jacobian matrices; Manipulators; Mechanical systems; Robots; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220248

Filename

220248

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3181004