Analytical method for constrained mechanical and structural systems
- Authors
- Eun, HC; Park, SY; Lee, ET; Chung, HS
- Issue Date
- Oct-2004
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- constraint; control force; minimization; robot; end-effector; generalized inverse matrix
- Citation
- KSME INTERNATIONAL JOURNAL, v.18, no.10, pp 1691 - 1699
- Pages
- 9
- Journal Title
- KSME INTERNATIONAL JOURNAL
- Volume
- 18
- Number
- 10
- Start Page
- 1691
- End Page
- 1699
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/24754
- DOI
- 10.1007/BF02984317
- ISSN
- 1226-4865
- Abstract
- The objective of this study is to present an accurate and simple method to describe the motion of constrained mechanical or structural systems. The proposed method is an elimination method to require less effort in computing Moore-Penrose inverse matrix than the generalized inverse method provided by Udwadia and Kalaba. Considering that the results by numerical integration of the derived second-order differential equation to describe constrained motion veer away the constrained trajectories, this study presents a numerical integration scheme to obtain more accurate results. Applications of holonomically or nonholonomically constrained systems illustrate the validity and effectiveness of the proposed method.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Engineering > ETC > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/24754)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.