Details
| Original language | English |
|---|---|
| Title of host publication | Mechanisms and Machine Science |
| Editors | T. Uhl |
| Place of Publication | Cham |
| Pages | 3157-3166 |
| Number of pages | 10 |
| Volume | 73 |
| ISBN (electronic) | 978-3-030-20131-9 |
| Publication status | Published - 14 Jun 2019 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 73 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
The efficient implementation of kinematics and dynamics models is a key to model based control of mechatronic systems such as robots and wearable assistive devices. This paper presents an approach for the derivation of these models in symbolic form for constrained systems based on the explicit elimination of the kinematic constraints using substitution variables with trigonometric expressions and the Lagrange equations of the second kind. This represents an alternative solution to using the implicit form of the constraints or using the explicit elimination at comparable computational effort. The method is applied to a novel exoskeleton designed for craftsmen force assistance, which consists of multiple planar closed kinematic loops and gear mechanisms.
Keywords
- Closed-loop, Dynamics, Explicit form, Lagrangian equations, Substitution variables, Trigonometric expressions
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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Mechanisms and Machine Science. ed. / T. Uhl. Vol. 73 Cham, 2019. p. 3157-3166 (Mechanisms and Machine Science; Vol. 73).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints
AU - Schappler, Moritz
AU - Lilge, Torsten
AU - Haddadin, Sami
N1 - Funding Information: The presented work was funded by the Federal Ministry of Education and Research of Germany (BMBF) under grant number 16SV6175 and has also received funding from European Union’s Horizon 2020 research and innovation programme under grant agreement No. 688857 (“SoftPro”).
PY - 2019/6/14
Y1 - 2019/6/14
N2 - The efficient implementation of kinematics and dynamics models is a key to model based control of mechatronic systems such as robots and wearable assistive devices. This paper presents an approach for the derivation of these models in symbolic form for constrained systems based on the explicit elimination of the kinematic constraints using substitution variables with trigonometric expressions and the Lagrange equations of the second kind. This represents an alternative solution to using the implicit form of the constraints or using the explicit elimination at comparable computational effort. The method is applied to a novel exoskeleton designed for craftsmen force assistance, which consists of multiple planar closed kinematic loops and gear mechanisms.
AB - The efficient implementation of kinematics and dynamics models is a key to model based control of mechatronic systems such as robots and wearable assistive devices. This paper presents an approach for the derivation of these models in symbolic form for constrained systems based on the explicit elimination of the kinematic constraints using substitution variables with trigonometric expressions and the Lagrange equations of the second kind. This represents an alternative solution to using the implicit form of the constraints or using the explicit elimination at comparable computational effort. The method is applied to a novel exoskeleton designed for craftsmen force assistance, which consists of multiple planar closed kinematic loops and gear mechanisms.
KW - Closed-loop
KW - Dynamics
KW - Explicit form
KW - Lagrangian equations
KW - Substitution variables
KW - Trigonometric expressions
UR - http://www.scopus.com/inward/record.url?scp=85067567996&partnerID=8YFLogxK
U2 - 10.15488/10212
DO - 10.15488/10212
M3 - Contribution to book/anthology
SN - 978-3-030-20131-9
VL - 73
T3 - Mechanisms and Machine Science
SP - 3157
EP - 3166
BT - Mechanisms and Machine Science
A2 - Uhl, T.
CY - Cham
ER -