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  1. Journal of Mechanical Science and Technology
  2. Journal of Mechanical Science and Technology : Volume 16
  3. Journal of Mechanical Science and Technology : Volume 16, Issue 8, August 2002
  4. Dynamic optimization algorithm of constrained motion
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Journal of Mechanical Science and Technology : Volume 31
Journal of Mechanical Science and Technology : Volume 30
Journal of Mechanical Science and Technology : Volume 29
Journal of Mechanical Science and Technology : Volume 28
Journal of Mechanical Science and Technology : Volume 27
Journal of Mechanical Science and Technology : Volume 26
Journal of Mechanical Science and Technology : Volume 25
Journal of Mechanical Science and Technology : Volume 24
Journal of Mechanical Science and Technology : Volume 23
Journal of Mechanical Science and Technology : Volume 22
Journal of Mechanical Science and Technology : Volume 21
Journal of Mechanical Science and Technology : Volume 20
Journal of Mechanical Science and Technology : Volume 19
Journal of Mechanical Science and Technology : Volume 18
Journal of Mechanical Science and Technology : Volume 17
Journal of Mechanical Science and Technology : Volume 16
Journal of Mechanical Science and Technology : Volume 16, Issue 12, December 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 11, November 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 10, October 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 9, September 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 8, August 2002
Optimization of a composite laminated structure by network-based genetic algorithm
A fuzzy–logic controller for an electrically driven steering system for a motorcar
Robust nonlinear control of a 6 DOF parallel manipulator : Task space approach
Effect of temperature on the charpy impact and CTOD values of type 304 stainless steel pipeline for LNG transmission
Dynamic optimization algorithm of constrained motion
Set-point control of elastic joint robots using only position measurements
New development of hexahedral type vibration motor used for mobile phones
Load characteristics of engine main bearing : Comparison between theory and experiment
Topological design sensitivity on the air bearing surface of head slider
Characteristics of fatigue crack initiation and fatigue strength of nitrided lCr-lMo-0.25V turbine rotor steels
Analysis of a conducting crack in an electrostrictive ceramic under combined electric and mechanical loading
Investigation of autoignition of propane andn-butane blends using a rapid compression machine
Turbulent mixing flow characteristics of solid-cone type diesel spray
Development of a performance prediction method for centrifugal compressor channel diffusers
A study on an axial-type 2-D turbine blade shape for reducing the blade profile loss
Journal of Mechanical Science and Technology : Volume 16, Issue 7, July 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 6, June 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 5, May 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 4, April 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 3, March 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 2, February 2002
Journal of Mechanical Science and Technology : Volume 16, Issue 1, January 2002
Journal of Mechanical Science and Technology : Volume 15
Journal of Mechanical Science and Technology : Volume 14
Journal of Mechanical Science and Technology : Volume 13
Journal of Mechanical Science and Technology : Volume 12
Journal of Mechanical Science and Technology : Volume 11

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Dynamic optimization algorithm of constrained motion

Content Provider SpringerLink
Author Eun, Hee Chang Yang, Keun Heok Chung, Heon Soo
Copyright Year 2002
Abstract The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nonholonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss’s principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.
Starting Page 1072
Ending Page 1078
Page Count 7
File Format PDF
ISSN 1738494X
Journal Journal of Mechanical Science and Technology
Volume Number 16
Issue Number 8
Language English
Publisher Korean Society of Mechanical Engineers
Publisher Date 2002-01-01
Publisher Place Seoul
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Constraints Constraint Forces Control, Dynamic Optimization Generalized Inverse Method Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type Text
Resource Type Article
Subject Mechanics of Materials Mechanical Engineering
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