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An innovative joint-space dynamic theory for mobile multi-axis system with unilateral constraint

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  • Xu, Hao
  • Ju, Hehua
  • Yu, Meng

Abstract

The wheel-ground unilateral constraint is essential in establishing the complete mobile multi-axis system dynamics. To reduce the calculation complexity and improve the dynamic performance, an innovative joint-space dynamic theory for mobile multi-axis systems with unilateral constraints is proposed. This present study builds on our existing explicit dynamics studies of tree-chain rigid multi-axis systems. By analyzing the formulation of the unilateral constraints, the complexity of establishing the constraint equations is reduced while the physical implications are clear. The constraint equations are derived and established based on the explicit partial derivative equations, where the expression of the constraint equations is greatly simplified. Then, based on the process of backward force iteration and in combination with the derived dynamic and unilateral constraint equations, the solution and analytical procedure for unilateral constraints are presented. The accuracy of the proposed method is proved by the three-wheeled multi-axis system and Mars rover examples. The proposed method is explicit, canonical, and symbolic and has the advantages of simple modeling and low computational complexity, which is analyzed by comparing it with the Open Dynamic Engine's approach.

Suggested Citation

  • Xu, Hao & Ju, Hehua & Yu, Meng, 2024. "An innovative joint-space dynamic theory for mobile multi-axis system with unilateral constraint," Applied Mathematics and Computation, Elsevier, vol. 479(C).
    • Handle: RePEc:eee:apmaco:v:479:y:2024:i:c:s009630032400345x
    DOI: 10.1016/j.amc.2024.128884
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    References listed on IDEAS

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    1. Yoo, Sung Jin & Park, Bong Seok, 2021. "Quantized feedback control strategy for tracking performance guarantee of nonholonomic mobile robots with uncertain nonlinear dynamics," Applied Mathematics and Computation, Elsevier, vol. 407(C).
    2. Abide, Stéphane & Barboteu, Mikaël & Danan, David, 2016. "Analysis of two active set type methods to solve unilateral contact problems," Applied Mathematics and Computation, Elsevier, vol. 284(C), pages 286-307.
    3. Zou, Ying & Deng, Chao & Dong, Lu & Ding, Lei & Lu, Ming, 2022. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader," Applied Mathematics and Computation, Elsevier, vol. 422(C).
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