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Analytical Method for Constrained Mechanical and Structural Systems  

Eun, Hee-Chang (Department of Architectural Engineering, Kangwon National University)
Park, Sang-Yeol (Department of Civil & Environmental Engineering, Cheju National University)
Lee, Eun-Taik (Department of Architectural Engineering, Chung-Ang University, Seoul Korea)
Chung, Heon-Soo (Department of Architectural Engineering, Chung-Ang University, Seoul Korea)
Publication Information
Journal of Mechanical Science and Technology / v.18, no.10, 2004 , pp. 1691-1699 More about this Journal
Abstract
The objective of this study is to present an accurate and simple method to describe the motion of constrained mechanical or structural systems. The proposed method is an elimination method to require less effort in computing Moore-Penrose inverse matrix than the generalized inverse method provided by Udwadia and Kalaba. Considering that the results by numerical integration of the derived second-order differential equation to describe constrained motion veer away the constrained trajectories, this study presents a numerical integration scheme to obtain more accurate results. Applications of holonomically or nonholonomically constrained systems illustrate the validity and effectiveness of the proposed method.
Keywords
Constraint; Control Force; Minimization; Robot; End-Effector; Generalized Inverse Matrix;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
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