Dynamics and control of mechanical systems in partly specified motion

Journal of the Franklin Institute

Volumn 334, Issue 3, 1997, Pages 407-426

  Blajer, Wojciech ^a  

^a KAZIMIERZ PULASKI UNIVERSITY OF TECHNOLOGY AND HUMANITIES IN RADOM   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

ALGEBRA; COMPUTER SIMULATION; CONSTRAINT THEORY; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; DIFFERENTIAL EQUATIONS; PROBLEM SOLVING;

DIFFERENTIAL-ALGEBRAIC EQUATIONS (DAE); PARTLY SPECIFIED MOTION;

MECHANISMS;

EID: 0031145308     PISSN: 00160032     EISSN: None     Source Type: Journal    
DOI: 10.1016/s0016-0032(96)00091-9     Document Type: Article

References (29)

1. R. Gutowski and B. Radziszewski, "On the exact control problems of the motion of a mechanical system with program constraints", Nonlinear Vibration Problems (Polish: Zagadnienia Drgań Nieliniowych), Vol. 10, p. 301, 1969.
2. D. Sahn, "On the motion of controlled mechanical systems", Advances in Mechanics, Vol. 7, No. 2, p. 3, 1984.
3. W. Blajer, "Modelling of aircraft program motion with application to circular loop simulation", Aeronautical J., Vol. 92, No. 917, p. 289, 1988.
4. K. Jankowski, "Dynamics of controlled mechanical systems with material and program constraints: I - Theory", Mechanism and Machine Theory, Vol. 24, No. 3, p. 175, 1989.
5. J. Parczewski and W. Blajer, "On realization of program constraints: Part I - Theory", Trans. ASME, J. Applied Mech., Vol. 56, No. 3, p. 676, 1989.
6. V. I. Kirgetov, "On the motion of controlled mechanical systems with prescribed constraints (servoconstraints)", J. Applied Math. Mech. (PMM), Vol. 31, No. 3, p. 433, 1967.
7. W. Blajer, "Structure of differential-algebraic equations for control problems in mechanics", Int. J. Systems Sci., Vol. 24, No. 12, p. 2367, 1993.
8. W. Blajer, "Index of differential-algebraic equations governing the dynamics of constrained mechanical systems", Applied Mathematical Modelling, Vol. 16, No. 2, p. 70, 1992.
9. W. Blajer and J. Parczewski, "On realization of program constraints: Part II - Practical implicationa", Trans. ASME, J. Applied Mech., Vol. 56, No. 3, p. 676, 1989.
10. S. L. Campbell, "High index differential algebraic equations", preprint, 1993.
11. B. E. Pobiedria, "Lectures on Tensor Analysis", Moscow University Publishers, Moscow, 1974.
12. W. Blajer, "Contribution to the projection method of obtaining equations of motion", Mechanics Res. Comm., Vol. 18, No. 5, p. 293, 1991.
13. W. Blajer, "A generalized projection method for the dynamic analysis of constrained mechanical systems", J. Theoretical and Applied Mech. (Polish: Mechanika Teoretyczna i Stosowana), Vol. 30, No. 2, p. 379, 1992.
14. J. I. Nejmark and N. A. Fufajev, "Dynamics of Nonholonomic Systems" (in Russian), Nauka, Moscow, 1967.
15. M. W. Spong, "Modelling and control of elastic joint robots", J. Dynamic Systems, Measurement, and Control, Vol. 109, No. 4, p. 310, 1987.
16. M. G. Forrest-Barlach and S. M. Babcock, "Inverse dynamics position control of a compliant manipulator", IEEE J. Robotics and Automation, Vol. RA-3, No. 1, p. 75, 1987.
17. A. de Luca, "Dynamic control of robots with joint elasticity", in "Proc. 1988 IEEE Int. Conf. on Robotics and Automation", p. 152, Philadelphia, Pennsylvania, 1988.
18. K. P. Jankowski and H. van Brussel, "An approach to discrete inverse dynamics control of flexible-joint robots", IEEE Trans. Robotics and Automation, Vol. 8, No. 5, p. 651, 1992.
19. C. W. Gear and L. R. Petzold, "ODE methods for the solution of differential/algebraic systems", SIAM J. Numerical Analysis, Vol. 21, No. 4, p. 716, 1984.
20. C. W. Gear, "Differential-algebraic equations, indices, and integral algebraic equations", SIAM J. Numerical Analysis, Vol. 27, No. 6, p. 1527, 1990.
21. S. L. Campbell and C. W. Gear, "The index of general nonlinear DAEs", preprint 1993.
22. C. W. Gear, "An introduction to numerical methods for ODEs and DAEs", in "Real-Time Integration Methods for Mechanical Systems Simulation" (Edited by E. H. Haug and R. C. Deyo), NATO ASI Series, Vol. F69, p. 115, Springer, 1990.
23. L. R. Petzold, "Methods and software for differential-algebraic systems", in "Real-Time Integration Methods for Mechanical Systems Simulation" (Edited by E. J. Haug and R. C. Deyo), NATO ASI Series, Vol. F69, p. 127, Springer, 1990.
24. P. Lötstedt and L. Petzold, "Numerical solution of nonlinear differential equations with algebraic constraints I: Convergence results for backward differentiation formulas", Mathematics of Computation, Vol. 46, No. 174, p. 491, 1986.
25. C. W. Gear, "Differential-algebraic equation index transformation", SIAM J. Scientific and Statistical Computating, Vol. 9, No. 1, p. 39, 1988.
26. C. W. Gear, B. Leimkuhler and G. K. Gupta, "Automatic integration of Euler-Lagrange equations with constraints", J. Comput. Applied Math., Vol. 12 & 13, p. 77, 1985.
27. 2-extrapolation methods for differential-algebraic systems of index 2", Impact of Computing in Science and Engineering, Vol. 1, p. 260, 1989.
28. W. Blajer and J. Parczewski, "Aircraft program motion along a predetermined trajectory. Part I. Mathematical modelling", The Aeronautical Journal, Vol. 94, No. 931, p. 17, 1990.
29. W. Blajer, "Aircraft program motion along a predetermined trajectory. Part II. Numerical simulation with application of spline functions to trajectory definitions", The Aeronautical Journal, Vol. 94, No. 932, p. 53, 1990.