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Recursive multibody dynamics and discrete-time optimal controlA recursive algorithm is developed for the solution of the simulation dynamics problem for a chain of rigid bodies. Arbitrary joint constraints are permitted, that is, joints may allow translational and/or rotational degrees of freedom. The recursive procedure is shown to be identical to that encountered in a discrete-time optimal control problem. For each relevant quantity in the multibody dynamics problem, there exists an analog in the context of optimal control. The performance index that is minimized in the control problem is identified as Gibbs' function for the chain of bodies.
Document ID
19900020544
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Deleuterio, G. M. T. (Toronto Univ. Downsview Ontario, Canada)
Damaren, C. J. (Toronto Univ. Downsview Ontario, Canada)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 4
Subject Category
Cybernetics
Accession Number
90N29860
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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