A gauge-invariant formulation for deriving the dynamic equations of constrained multibody systems in terms of (reduced) quasivelocities is presented. This formulation does not require any weighting matrix to deal with the gauge-invariance problem when both translational and rotational components are involved in the generalized coordinates or in the constraint equations. Moreover, in this formulation the equations of motion are decoupled from those of constrained force, and each system has its own independent input. This allows the possibility to develop a simple force control action that is totally independent from the motion control action facilitating a hybrid force/motion control. Tracking force/motion control of constrained multibody systems based on a combination of feedbacks on the vectors of the quasivelocities and the configuration-variables are presented.
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July 2009
Research Papers
A Gauge-Invariant Formulation for Constrained Mechanical Systems Using Square-Root Factorization and Unitary Transformation
Farhad Aghili
Farhad Aghili
Research Scientist
Space Technologies,
e-mail: farhad.aghili@space.gc.ca
Canadian Space Agency
, Saint-Hubert, QC J3Y 8Y9 Canada
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Farhad Aghili
Research Scientist
Space Technologies,
Canadian Space Agency
, Saint-Hubert, QC J3Y 8Y9 Canadae-mail: farhad.aghili@space.gc.ca
J. Comput. Nonlinear Dynam. Jul 2009, 4(3): 031010 (10 pages)
Published Online: June 9, 2009
Article history
Received:
May 1, 2008
Revised:
January 13, 2009
Published:
June 9, 2009
Citation
Aghili, F. (June 9, 2009). "A Gauge-Invariant Formulation for Constrained Mechanical Systems Using Square-Root Factorization and Unitary Transformation." ASME. J. Comput. Nonlinear Dynam. July 2009; 4(3): 031010. https://doi.org/10.1115/1.3124094
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