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An innovative joint-space dynamic theory for mobile multi-axis system with unilateral constraint

Published: 19 September 2024 Publication History

Highlights

Eliminate the need for tedious analysis and derivation of intermediate variables.
Simplify the establishment of constraint equations and require constructing fewer equations.
The proposed method is more straightforward to establish with explicit form than open dynamics Engine's method and requires less computational complexity.
Reduce the difficulty of engineering implementation via explicit, canonical, and symbolic characteristics, especially for high-DOF mobile multi-axis systems.

Abstract

The wheel-ground unilateral constraint is essential in establishing the complete mobile multi-axis system dynamics. To reduce the calculation complexity and improve the dynamic performance, an innovative joint-space dynamic theory for mobile multi-axis systems with unilateral constraints is proposed. This present study builds on our existing explicit dynamics studies of tree-chain rigid multi-axis systems. By analyzing the formulation of the unilateral constraints, the complexity of establishing the constraint equations is reduced while the physical implications are clear. The constraint equations are derived and established based on the explicit partial derivative equations, where the expression of the constraint equations is greatly simplified. Then, based on the process of backward force iteration and in combination with the derived dynamic and unilateral constraint equations, the solution and analytical procedure for unilateral constraints are presented. The accuracy of the proposed method is proved by the three-wheeled multi-axis system and Mars rover examples. The proposed method is explicit, canonical, and symbolic and has the advantages of simple modeling and low computational complexity, which is analyzed by comparing it with the Open Dynamic Engine's approach.

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Published In

cover image Applied Mathematics and Computation
Applied Mathematics and Computation  Volume 479, Issue C
Oct 2024
528 pages

Publisher

Elsevier Science Inc.

United States

Publication History

Published: 19 September 2024

Author Tags

  1. Mobile multi-axis system
  2. Joint-space
  3. Unilateral constraints
  4. Partial derivative

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