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Proceedings Papers

Comparison of Control Methods for Two-Link Planar Flexible Manipulator

Proc. ASME. IDETC-CIE2017, Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A027, August 6–9, 2017

Paper No: DETC2017-67937

DOI: https://doi.org/10.1115/DETC2017-67937

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Topics: Aerospace industry, Control equipment, Dynamics (Mechanics), End effectors, Engineering simulation, Feedback, Flexible manipulators, Kinematics, Manipulators, Manufacturing

Proceedings Papers

A QP-Based Approach to Kinematic Motion Planning of Multibody Systems

Junggon Kim, Rudranarayan Mukherjee

Proc. ASME. IDETC-CIE2015, Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A020, August 2–5, 2015

Paper No: DETC2015-48096

DOI: https://doi.org/10.1115/DETC2015-48096

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Topics: Kinematics, Multibody systems, Path planning, Quadratic programming, Collisions (Physics), Computer software, Mechanical admittance, Optimization, Robotics, Robots

Proceedings Papers

Integrating Multibody Simulations With SysML

Johannes Gross, Rudranarayan Mukherjee

Proc. ASME. IDETC-CIE2015, Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A038, August 2–5, 2015

Paper No: DETC2015-48095

DOI: https://doi.org/10.1115/DETC2015-48095

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Topics: Simulation, Design, Engineering disciplines, Modeling, Physics, Simulation models, Thread

Journal Articles

Special Issue: Multibody Dynamics for Vehicle Systems

Corina Sandu, Rudranarayan Mukherjee

J. Comput. Nonlinear Dynam. May 2015, 10(3): 030301.

Paper No: CND-15-1023

DOI: https://doi.org/10.1115/1.4029693

Published Online: May 1, 2015

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Topics: Multibody dynamics, Vehicles, Simulation

Proceedings Papers

Computational and Experimental Approach to Understanding Legged Mobility in Micro Ground Vehicles

Rudranarayan Mukherjee, Scott Moreland, Isaac Kim, Nikhil Lele, Stephen Goodwin, Ryan Houlihan, Aaron Parness, Alice Wu, Mark Cutkosky

Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A005, August 17–20, 2014

Paper No: DETC2014-34835

DOI: https://doi.org/10.1115/DETC2014-34835

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Topics: Mechanical admittance, Vehicles, Army, Cities, Computational methods, Deformation, Engineering simulation, Experimental methods, Imaging, Modeling

Proceedings Papers

Vehicle Dynamics Models for Onboard Motion Planning

Rudranarayan Mukherjee, Thomas Howard, Steven Myint, Johnny Chang, Jack Craft

Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A047, August 17–20, 2014

Paper No: DETC2014-34831

DOI: https://doi.org/10.1115/DETC2014-34831

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Topics: Path planning, Vehicle dynamics, Vehicles, Simulation, Control equipment, Design, Dynamics (Mechanics), Kinematics, Mechanical admittance, Modeling

Proceedings Papers

M3tk: A Robot Mobility and Manipulation Modeling Toolkit

Rudranarayan Mukherjee, Steven Myint, Johnny Chang, Isaac Kim, Jack Craft, Marc Pomerantz, Junggon Kim, Lee Peterson

Proc. ASME. IDETC-CIE2014, Volume 7: 2nd Biennial International Conference on Dynamics for Design; 26th International Conference on Design Theory and Methodology, V007T05A003, August 17–20, 2014

Paper No: DETC2014-34832

DOI: https://doi.org/10.1115/DETC2014-34832

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Topics: Mechanical admittance, Modeling, Robots, Dynamics (Mechanics), Kinematics, Computer software, Algorithms, Contact mechanics, Graphical user interfaces, Linear algebra

Proceedings Papers

Massively Parallel Discrete Element Modeling of Wheeled Mobility on Granular Terrain

Ryan Houlihan, Rudranarayan Mukherjee

Proc. ASME. IDETC-CIE2013, Volume 7B: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07BT10A022, August 4–7, 2013

Paper No: DETC2013-13318

DOI: https://doi.org/10.1115/DETC2013-13318

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Topics: Mechanical admittance, Modeling, Wheels, Simulation, Sands, Computer software, Design, Gravel, Hardware, Vehicles

Proceedings Papers

Parallel Algorithm for Modeling Constrained Multi-Flexible Body System Dynamics

Rudranarayan Mukherjee, Jeremy Laflin

Proc. ASME. IDETC-CIE2013, Volume 7B: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07BT10A010, August 4–7, 2013

Paper No: DETC2013-13311

DOI: https://doi.org/10.1115/DETC2013-13311

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Topics: Algorithms, Modeling, System dynamics, Deformation, Kinematics, Manufacturing, Displacement, Dynamics (Mechanics), Equations of motion, Inertia (Mechanics)

Proceedings Papers

Parallel Algorithm for Constrained Multi-Rigid Body System Dynamics in Generalized Topologies

Rudranarayan Mukherjee

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A036, August 4–7, 2013

Paper No: DETC2013-13291

DOI: https://doi.org/10.1115/DETC2013-13291

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Topics: Algorithms, System dynamics, Kinematics, Dynamics (Mechanics), Equations of motion, Manufacturing, Modeling, Robots, Simulation, Space

Proceedings Papers

Efficient Approach for Constraint Enforcement in Constrained Multibody System Dynamics

Rudranarayan Mukherjee, Pawel Malczyk

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A037, August 4–7, 2013

Paper No: DETC2013-13296

DOI: https://doi.org/10.1115/DETC2013-13296

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Topics: Algorithms, Dynamics (Mechanics), Kinematics, Manufacturing, Modeling, Multibody systems, System dynamics, Topology

Proceedings Papers

Parallel Algorithm for Modeling Multi-Rigid Body System Dynamics With Nonholonomic Constraints

Rudranarayan Mukherjee, Pawel Malczyk

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A038, August 4–7, 2013

Paper No: DETC2013-13305

DOI: https://doi.org/10.1115/DETC2013-13305

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Topics: Algorithms, Modeling, System dynamics, Equations of motion, Computer simulation, Dynamics (Mechanics), Kinematics, Manufacturing, Stress, Topology

Proceedings Papers

Massively Parallel Discrete Element Modeling of Legged Mobility on Granular Terrain

Rudranarayan Mukherjee, Isaac Kim

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A068, August 4–7, 2013

Paper No: DETC2013-13329

DOI: https://doi.org/10.1115/DETC2013-13329

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Topics: Mechanical admittance, Modeling, Engineering simulation, Simulation, Computers, Design, Discrete element methods, Robotics, Vehicles

Proceedings Papers

A Logarithmic Complexity Divide and Conquer Algorithm for Flexible Multibody Dynamics

Rudranarayan Mukherjee, Kurt Anderson

Proc. ASME. IDETC-CIE2005, Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 195-205, September 24–28, 2005

Paper No: DETC2005-85012

DOI: https://doi.org/10.1115/DETC2005-85012

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Topics: Algorithms, Multibody dynamics, Deformation, Degrees of freedom, Approximation, Chain, Computer software, Dynamics (Mechanics), Finite element analysis, Kinematics

Journal citation

NARROW

Comparison of Control Methods for Two-Link Planar Flexible Manipulator

A QP-Based Approach to Kinematic Motion Planning of Multibody Systems

Integrating Multibody Simulations With SysML

Special Issue: Multibody Dynamics for Vehicle Systems

Computational and Experimental Approach to Understanding Legged Mobility in Micro Ground Vehicles

Vehicle Dynamics Models for Onboard Motion Planning

M3tk: A Robot Mobility and Manipulation Modeling Toolkit

Massively Parallel Discrete Element Modeling of Wheeled Mobility on Granular Terrain

Parallel Algorithm for Modeling Constrained Multi-Flexible Body System Dynamics

Parallel Algorithm for Constrained Multi-Rigid Body System Dynamics in Generalized Topologies

Efficient Approach for Constraint Enforcement in Constrained Multibody System Dynamics

Parallel Algorithm for Modeling Multi-Rigid Body System Dynamics With Nonholonomic Constraints

Massively Parallel Discrete Element Modeling of Legged Mobility on Granular Terrain

A Logarithmic Complexity Divide and Conquer Algorithm for Flexible Multibody Dynamics

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