Journal ArticleDOI
Stabilization of constraints and integrals of motion in dynamical systems
J. Baumgarte,J. Baumgarte +1 more
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In this article, it is shown how the analytical relations can be satisfied in a stabilized manner in order to improve the numerical accuracy of the solution of the differential equations, which leads to a modified differential system which is often stable in the sense of Ljapunov.About:
This article is published in Computer Methods in Applied Mechanics and Engineering.The article was published on 1972-06-01. It has received 1429 citations till now. The article focuses on the topics: Numerical partial differential equations & Delay differential equation.read more
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A simple control method coping with a kinematically ill-posed inverse problem of redundant robots: analysis in case of a handwriting robot
TL;DR: It is shown theoretically that sensory feedback signals with a simpler form computed on the basis of measurement data of task‐description variables render the closed‐loop dynamics to converge asymptotically to a target task‐ description lying on a lower‐dimensional manifold of steady states.
Patent
Method and system for dynamically filtering the motion of articulated bodies
TL;DR: In this paper, an optimization-based inverse dynamics algorithm is used to determine values of control variables and each time step during a forward simulation so that the model is driven toward the specified set of desired kinematics while at the same time potentially optimizing various other aspects of the motion.
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Nonlinear dynamic modeling and performance analysis of a redundantly actuated parallel manipulator with multiple actuation modes based on FMD theory
Liang Dong,Yimin Song,Tao Sun +2 more
TL;DR: In this article, the authors developed a rigid-flexible coupling dynamic model (RFDM) of a redundant actuated parallel manipulator with multiple actuation modes based on the flexible multi-body dynamics theory.
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Container Gantry Crane Simulator for Operator Training
TL;DR: The development of a gantry crane operator-training simulator, including all the earlier mentioned components, is presented, to present an example of methods used in the development of the separate areas of a training simulator.
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Least action principles and their application to constrained and task-level problems in robotics and biomechanics
TL;DR: In this paper, a variant of the least curvature or straightest path is investigated in the context of geodesic paths on constrained motion manifolds, where task space descriptions are addressed and the operational space approach is interpreted in terms of least action.
References
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Journal ArticleDOI
Numerical stabilization of the differential equations of Keplerian motion
J. Baumgarte,J. Baumgarte +1 more
TL;DR: In this article, a stabilization of the classical equations of two-body motion is offered, characterized by the use of the regularizing independent variable (eccentric anomaly) and by the addition of a control-term to the differential equations.