Thesis (M.S.)--University of Rochester. Dept. of Mechanical Engineering, 2008.
This document presents a three-dimensional (3D) mathematical model for the dynamical behavior of three rigid links joined end to end by "ideal" joints. The joints allow unrestricted relative rotation while restricting relative translation. Proportional-derivative (PD) control torque, driven by the cross products between adjacent links, controls the mid-flight configuration of the system. The intention of the model is to mimic the maneuver of a diver (or gymnast, . . .) during the free-fall phase of a dive. The equations of motion are the usual Euler-Lagrange equations converted to state space form for numerical integration, which uses a unique technique to reduce the length of the code and the number of floating point operations. Test calculations verify the model for some simple cases, both with and without control torques. The control scheme is able to mimic various planar diving maneuvers. The system presented here is not capable of more complex full three-dimensional dives. Extension seems possible, and will be discussed.
