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  • 标题:Dynamical Modeling of Constraints with Friction in Mechanical Systems ★
  • 本地全文:下载
  • 作者:Thomas Specker ; Michael Buchholz ; Klaus Dietmayer
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2015
  • 卷号:48
  • 期号:1
  • 页码:514-519
  • DOI:10.1016/j.ifacol.2015.05.124
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractModeling of unilateral constraints in multi-body systems is already a challenging task itself, which becomes even more complex if friction has to be considered caused by an active constraint. In this paper, this task is solved by combining two recently developed methods: constraint modeling using power-based restriction functions within Lagrangian mechanics and dynamic modeling of friction effects for numerically robust simulations. The approach is demonstrated on a simulation experiment of a double inverted pendulum.
  • 关键词:KeywordsFrictionImpact DynamicsConstraint ModelingDouble Inverted Pendulum
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