Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints

International Journal for Numerical Methods in Engineering

Volumn 88, Issue 1, 2011, Pages 47-65

  Kim, Joo H ^a   Abdel Malek, Karim ^b   Xiang, Yujiang ^b   Yang, Jingzhou James ^c   Arora, Jasbir S ^b  

^a POLYTECHNIC UNIVERSITY   (United States)

^b IA United States   (United States)

^c Department of Electrical and Computer Engineering   (United States)

Author keywords

Differential algebraic equations; Dynamics; External reaction; Holonomic constraints; Motion planning; Optimization; Redundant system

Indexed keywords

ACTUATOR TORQUES; APPLIED LOADS; CONTACT POINTS; DIFFERENTIAL ALGEBRAIC EQUATIONS; DISCRETIZATION METHOD; DYNAMIC EQUILIBRIA; EXTERNAL REACTION; FORWARD DYNAMIC; GOAL-ORIENTED; HOLONOMIC CONSTRAINTS; LOAD DISTRIBUTIONS; MECHANICAL MANIPULATORS; MECHANICAL SYSTEMS; MOTION TRAJECTORIES; MULTI-RIGID-BODY; NON-LINEAR OPTIMIZATION ALGORITHMS; NUMERICAL FORMULATION; OPTIMAL MOTION PLANNING; REACTION FORCES; REDUNDANT ROBOT; REDUNDANT SYSTEM; SOLUTION METHODS; SYSTEM CONFIGURATIONS; TIME STEP; WHOLE-BODY;

DISCRETE EVENT SIMULATION; LOADS (FORCES); MANIPULATORS; MOTION PLANNING; OPTIMIZATION;

DYNAMICS;

EID: 80052845717     PISSN: 00295981     EISSN: 10970207     Source Type: Journal    
DOI: 10.1002/nme.3162     Document Type: Article

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