Dynamics of serial kinematic chains with large number of degrees-of-freedom

Agarwal, Abhishek; Shah, Suril V.; Bandyopadhyay, Sandipan; Saha, Subir Kumar

doi:10.1007/s11044-013-9386-3

Cited by 25 publications

(12 citation statements)

References 24 publications

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“…These results were separately communicated to a journal for publication (Agarwal et al, 2012). ReDySim can be downloaded free from http://www.redysim.co.nr, where the user's manual and some demos are also made available for the benefits of the users.…”

Section: Redysim (Recursive Dynamics Simulator)mentioning

confidence: 99%

Evolution of the DeNOC-based dynamic modelling for multibody systems

2013

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Abstract. Dynamic modelling of a multibody system plays very essential role in its analyses. As a result, several methods for dynamic modelling have evolved over the years that allow one to analyse multibody systems in a very efficient manner. One such method of dynamic modelling is based on the concept of the Decoupled Natural Orthogonal Complement (DeNOC) matrices. The DeNOC-based methodology for dynamics modelling, since its introduction in 1995, has been applied to a variety of multibody systems such as serial, parallel, general closed-loop, flexible, legged, cam-follower, and space robots. The methodology has also proven useful for modelling of proteins and hyper-degree-of-freedom systems like ropes, chains, etc. This paper captures the evolution of the DeNOC-based dynamic modelling applied to different type of systems, and its benefits over other existing methodologies. It is shown that the DeNOC-based modelling provides deeper understanding of the dynamics of a multibody system. The power of the DeNOC-based modelling has been illustrated using several numerical examples.

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Section: Redysim (Recursive Dynamics Simulator)mentioning

confidence: 99%

Evolution of the DeNOC-based dynamic modelling for multibody systems

2013

Self Cite

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“…In the following derivations, there is a necessity to evaluate first and second time derivatives of constraint conditions expressed in Eq. (1). The velocity and acceleration constraint equations can be expressed as:…”

Section: Equations Of Motion For Constrained Spatial Systemsmentioning

confidence: 99%

“…The convergence issues reported in this paper may be associated with numerical ill-conditioning of the problem. This matter is pointed out by many researchers in the field [1,39]. With a basic penalty formulation, usually low penalty factors result in a stable (though possibly inaccurate) solution.…”

Section: Multilink Pendulummentioning

confidence: 99%

Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation

et al. 2018

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There has been a growing attention to efficient simulations of multibody systems, which is apparently seen in many areas of computer-aided engineering and design both in academia and in industry. The need for efficient or real-time simulations requires highfidelity techniques and formulations that should significantly minimize computational time. Parallel computing is one of the approaches to achieve this objective. This paper presents a novel index-3 divide-andconquer algorithm for efficient multibody dynamics simulations that elegantly handles multibody systems in generalized topologies through the application of the augmented Lagrangian method. The proposed algorithm exploits a redundant set of absolute coordinates. The trapezoidal integration rule is embedded into the formulation and a set of nonlinear equations need to be solved every time instant. Consequently, the Newton-Raphson iterative scheme is applied to find the system

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“…Even though the DeNOC formulation starts with the unconstrained NE equations of motion, it finally leads to a set of coupled EL equations. Besides, modelling of even hyper-degree-of-freedom (upto 100,000) serial systems could provide realistic simulation, both in terms of computer CPU time and numerical accuracy (Agarwal et al, 2013), which otherwise are known to yield ill-conditioned system (Featherstone and Fijany, 1999). In a way, the DeNOC concept blends the positive aspects of NE and EL formulations, i.e., simplicity and compactness, respectively.…”

Section: Dynamic Modelling Of a Serial Robotmentioning

confidence: 99%

“…It has been earlier applied to simulate a variety of robotic systems ranging from serial robots (Saha, 1999(Saha, , 2003, closed-loop structures (Koul et al, 2013), tree-type legged walking machines (Shah et al, 2012) to a large degrees-of-freedom (DOF) a rope (Agarwal et al, 2013). Owing to its compact, modular and recursive formulation, the DeNOC-based dynamics offers an easy integration of robot dynamics to any control algorithm.…”

Section: Introductionmentioning

confidence: 99%

Dynamic simulation of serial robots under force control

Udai¹,

Saha²

2018

IJIMR

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Abstract:The advantages of using force control in industrial robots are well known. Study of such systems in virtual environments in the form of simulation is of great help as most of the force controlled task works in close contact with the environment. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in industries before deciding to choose a suitable one for real implementation. Hence, a proper dynamic model of the robot is essential which should be able to emulate the real robot, particularly if the robot moves at relatively higher speeds. This is done here using the concept of the decoupled natural orthogonal complement (DeNOC) matrices which is known to provide a recursive forward dynamic algorithm that is not only efficient but also numerically stable. Such simulation of robots under force control will allow users to tune the control gains without stopping the real robot on the production floor. Besides, such simulation can be used as an education tool as well to help beginners to explore various types of control algorithms and their performances. In addition, the framework for simulation proposed in this paper can work as a good test bench to test the performances of either a new control law or a different dynamic algorithm. As an illustration, the DeNOC based dynamics was substituted with MATLAB's SimMechanics which can also perform dynamic simulation. The comparison of the results validated the concept and correctness of the numerical simulations.

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Dynamics of serial kinematic chains with large number of degrees-of-freedom

Cited by 25 publications

References 24 publications

Evolution of the DeNOC-based dynamic modelling for multibody systems

Evolution of the DeNOC-based dynamic modelling for multibody systems

Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation

Dynamic simulation of serial robots under force control

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