Non-linear dynamics of multibody systems: a system-based approach
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866912362096754688 |
|---|---|
| author | Alazard, Daniel Sanfedino, Francesco Kassarian, Ervan |
| author_facet | Alazard, Daniel Sanfedino, Francesco Kassarian, Ervan |
| contents | This paper presents causal block-diagram models to represent the equations of motion of multi-body systems in a very compact and simple closed form. Both the forward dynamics (from the forces and torques imposed at the various degrees-of-freedom to the motions of these degrees-of-freedom) or the inverse dynamics (from the motions imposed at the degrees-of-freedom to the resulting forces and torques) can be considered and described by a block diagram model. This work extends the Two-Input Two-Output Port (TITOP) theory by including all non-linear terms and uniform or gravitational acceleration fields. Connection among different blocks is possible through the definition of the motion vector. The model of a system composed of a floating base, rigid bodies, revolute and prismatic joints, working under gravity is developed to illustrate the methodology. The proposed model is validated by simulation and cross-checking with a model built using an alternative modeling tool on a scenario where the nonlinear terms are determining. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_03248 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Non-linear dynamics of multibody systems: a system-based approach Alazard, Daniel Sanfedino, Francesco Kassarian, Ervan Systems and Control This paper presents causal block-diagram models to represent the equations of motion of multi-body systems in a very compact and simple closed form. Both the forward dynamics (from the forces and torques imposed at the various degrees-of-freedom to the motions of these degrees-of-freedom) or the inverse dynamics (from the motions imposed at the degrees-of-freedom to the resulting forces and torques) can be considered and described by a block diagram model. This work extends the Two-Input Two-Output Port (TITOP) theory by including all non-linear terms and uniform or gravitational acceleration fields. Connection among different blocks is possible through the definition of the motion vector. The model of a system composed of a floating base, rigid bodies, revolute and prismatic joints, working under gravity is developed to illustrate the methodology. The proposed model is validated by simulation and cross-checking with a model built using an alternative modeling tool on a scenario where the nonlinear terms are determining. |
| title | Non-linear dynamics of multibody systems: a system-based approach |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2505.03248 |