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RESEARCH PAPERS: Design Automation Papers

Optimal Trajectories and Controls for Systems of Coupled Rigid Bodies

[+] Author and Article Information
M. Townsend

Mechanical Engineering Department, University of Toronto, Toronto, Ontario; University of Wisconsin, Madison, Wisc.

A. Seireg

Mechanical Engineering Department, University of Wisconsin, Madison, Wisc.

J. Eng. Ind 94(2), 472-482 (May 01, 1972) (11 pages) doi:10.1115/1.3428178 History: Received June 07, 1971; Online July 15, 2010

Abstract

This paper presents a mathematical programming method for the performance synthesis of dynamic systems modelled by coupled rigid bodies. A technique is given for the decomposition and efficient evaluation of the trajectories and internal forces (controls) which cause a system to optimally perform tasks which may include cyclic relative motions between the bodies. The technique is useful for the synthesis of variable structure devices such as robots and all-terrain vehicles, and for the analysis of human and animal locomotion.

Copyright © 1972 by ASME
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