Research on Constraint Violation Elimination based on Projection Method
Aiming at problem of constraint violation in solving the dynamics equation， a method combining the projection method with Udwadia-Kalaba equation is proposed. In this method，the numerical solutions of the zero-order and first-order generalized variables of the system are projected to the constrained...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.004 |
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| author | Jia Liu Yaru Xu Kai Yang Hongqiang Sun |
| author_facet | Jia Liu Yaru Xu Kai Yang Hongqiang Sun |
| author_sort | Jia Liu |
| collection | DOAJ |
| description | Aiming at problem of constraint violation in solving the dynamics equation， a method combining the projection method with Udwadia-Kalaba equation is proposed. In this method，the numerical solutions of the zero-order and first-order generalized variables of the system are projected to the constrained manifold defined by the constraint equation， the offsets of the numerical solution are obtained， then the offsets are transformed into the constraint force and integrated into Udwadia-Kalaba equation to achieve the purpose of restraining the constraint violation. Compared with the improved Udwadia-Kalaba equation which only considers the first order constraint equation， the simulation results of dynamics model of industrial manipulator subject to constraint show that the modified method can effectively improve the calculation accuracy of generalized variables and zero-order and first-order constraint errors. |
| format | Article |
| id | doaj-art-129806d4eede417e8b2ad207c4e701cc |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-129806d4eede417e8b2ad207c4e701cc2025-01-10T13:59:51ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-02-0146232730483046Research on Constraint Violation Elimination based on Projection MethodJia LiuYaru XuKai YangHongqiang SunAiming at problem of constraint violation in solving the dynamics equation， a method combining the projection method with Udwadia-Kalaba equation is proposed. In this method，the numerical solutions of the zero-order and first-order generalized variables of the system are projected to the constrained manifold defined by the constraint equation， the offsets of the numerical solution are obtained， then the offsets are transformed into the constraint force and integrated into Udwadia-Kalaba equation to achieve the purpose of restraining the constraint violation. Compared with the improved Udwadia-Kalaba equation which only considers the first order constraint equation， the simulation results of dynamics model of industrial manipulator subject to constraint show that the modified method can effectively improve the calculation accuracy of generalized variables and zero-order and first-order constraint errors.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.004Projection methodConstraint violationUdwadia-Kalaba equationDynamics modeling |
| spellingShingle | Jia Liu Yaru Xu Kai Yang Hongqiang Sun Research on Constraint Violation Elimination based on Projection Method Jixie chuandong Projection method Constraint violation Udwadia-Kalaba equation Dynamics modeling |
| title | Research on Constraint Violation Elimination based on Projection Method |
| title_full | Research on Constraint Violation Elimination based on Projection Method |
| title_fullStr | Research on Constraint Violation Elimination based on Projection Method |
| title_full_unstemmed | Research on Constraint Violation Elimination based on Projection Method |
| title_short | Research on Constraint Violation Elimination based on Projection Method |
| title_sort | research on constraint violation elimination based on projection method |
| topic | Projection method Constraint violation Udwadia-Kalaba equation Dynamics modeling |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.004 |
| work_keys_str_mv | AT jialiu researchonconstraintviolationeliminationbasedonprojectionmethod AT yaruxu researchonconstraintviolationeliminationbasedonprojectionmethod AT kaiyang researchonconstraintviolationeliminationbasedonprojectionmethod AT hongqiangsun researchonconstraintviolationeliminationbasedonprojectionmethod |