Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints
Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints
复制标题
具有切换约束的非光滑机械系统中多重影响的算法解决
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
D. Braun
中科院分区：
文献类型：
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作者：
Y. Li;Haoyong Yu;D. Braun
我们提出了一个微分代数公式与切换约束的机器人系统的非光滑动力学模型的变化的约束和多个影响。该配方结合了一个单一的结构简单的控制方程，一组开关运动学约束，和塑性冲击法，代表与他们的环境相互作用的机器人的动力学。该制剂的主要贡献是一种新的算法的影响分辨率的方法，它提供了一个明确的解决方案，经典的塑性冲击法的情况下，多个同时发生的影响。这种方法作为一种替代以前的线性互补为基础的配方，通过迭代计算提供了一个隐式的影响解决方案。我们通过模拟一个平面人体测量机器人的运动来证明所提出的方法的实用性。
We present a differential-algebraic formulation with switching constraints to model the nonsmooth dynamics of robotic systems subject to changing constraints and multiple impacts. The formulation combines a single structurally simple governing equation, a set of switching kinematic constraints, and the plastic impact law, to represent the dynamics of robots that interact with their environment. The main contribution of this formulation is a novel algorithmic impact resolution method which provides an explicit solution to the classical plastic impact law in the case of multiple simultaneous impacts. This method serves as an alternative to prior linear-complementarity-based formulations which offer an implicit impact resolution through iterative calculation. We demonstrate the utility of the proposed method by simulating the locomotion of a planar anthropometric biped.