Dynamics motion simulation of the Hermes robot arm subjected to constraints

During operations with a manipulator arm situations will occur when the manipulator end-effector is, or comes, in contact with its environment. The dynamics equations, which describe the motion of the manipulator, can be represented by an ordinary differential equation for the free motion and an additional algebraic (in)equality for the motion...

Modelling dynamical systems with equality state-space constraints

A mathematical theory for modelling dynamical systems with equality state-space constraints is presented. The dynamic behaviour of these systems is represented by a combination of differential and algebraic equations. It Is shown that the freedom offered by control is essential to obtain other, mathematically equivalent formulations. The notion...

Numerical solution of dynamical systems with equality state-space constraints

Numerical simulation of constrained dynamical systems is known to exhibit stability problems even when the unconstrained system can be simulated in a stable manner. We show that not the constraints themselves, but the transformation of a continuous set of equations to a discrete set of equations is the true source of the stability problem....

Study on efficient numerical time-integration methods for simulation of multi-body systems

This report describes the results of an evaluation of numerical integration schemes to be used for the digital simulation of second order ordinary differential equations (ODE's) which are characteristic for multibody systems such as space manipulators. The study focuses on dedicated schemes for this type of systems. Main attention is paid to the...