Stability of Controlled Motion of a Gymnast in High-Speed Mid Air Maneuvers
Stability of Controlled Motion of a Gymnast in High-Speed Mid Air Maneuvers
复制标题
体操运动员高速空中机动受控运动的稳定性
DOI：
--
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
U. Jungnickel
中科院分区：
文献类型：
--
作者：
P. Maisser;U. Jungnickel
使用基于拟人多体系统（MBS）的标准人体模型模拟潜水员在自由飞行中的扭转翻筋斗运动。本文的目的是提出沿 m 维子流形 (0<m≤n) 移动的 n 自由度 MBS 的李雅普诺夫稳定动态控制律。定义该子流形的指定运动是由视频序列的运动学分析产生的。逆运动学通过动态跟踪求解。通过非线性优化来评估自由飞行的一致初始速度，最大限度地减少身体固定标记点与测量数据的偏差。因此，在自由飞行期间必须保持恒定的MBS的角动量总量被优化。 MBS 的角动量守恒定义了潜水员移动的内在约束流形。该守恒定律也可用于非完整运动规划。该方法本质上使用拉格朗日多体动力学中众所周知的微分几何概念和方法。
The twisting somersaults motion of a diver in free flight is simulated using a standard man model based on an anthropomorphic multibody system (MBS). The aim of the paper is to present a Lyapunov-stable dynamic control law of an MBS with n degrees of freedom moving along an m-dimensional submanifold (0<m≤n). The prescribed motion defining that submanifold results from a kinematic analysis of video sequences. The inverse kinematics is solved by dynamic tracking. Consistent initial velocities for the free flight are evaluated by nonlinear optimization minimizing the deviation of the body fixed marker points from the measurement data. So, the total amount of the angular momentum of the MBS which has to be constant during the free flight is optimized. The conservation of the angular momentum of the MBS defines an intrinsic constraint manifold on which the diver is moving. This conservation law can also be used for nonholonomic motion planning. The approach essentially uses differential-geometric concepts and methods well-known from the Lagrangian Multibody Dynamics.