A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains

摘要: In this work an efficient dynamics algorithm is developed, which applicable to a wide range of multibody systems, including underactuated branched or tree-topology robots, and walking machines. The differentiated with respect the input parameters in order form sensitivity equations. makes use techniques notation from theory Lie groups algebras, reviewed briefly. One strengths our formulation ability easily differentiate interest. We demonstrate one important algorithms by using them solve difficult optimal control problems for systems. paper have been implemented software package named Cstorm (Computer simulation tool optimization robot manipulators), runs within Matlab Simulink. It can be downloaded website http://www.eng.uci.edu/ bobrow/ @DOI: 10.1115/1.1376121#