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

Rudranarayan Mukherjee , Paweł Malczyk

Abstract

We present an efficient and robust approach for enforcing the loop closure constraint at acceleration, velocity and position level in modeling multi-rigid body system dynamics. Our approach builds on the seminal ideas of the Divide and Conquer Algorithm (DCA) and the Augmented Lagrangian Method (ALM). The order-independent hierarchic assembly-disassembly process of the DCA provides an excellent opportunity for modularizing the system topology such that the loop closure constraints can be elegantly handled using constraint enforcement ideas motivated by the ALM. We present a non-iterative, user controlled constraint enforcement approach that enables robust constraint enforcement within the DCA. This approach eliminates the need for the iterative scheme found in many ALM motivated approaches. Similarly, it enables the use of relative or internal coordinates to model kinematic joint constraints not involved in the loop closure, thereby enforcing the constraints exactly for these joints. The approach also enables computationally very efficient serial and parallel implementations. Results from a number of test cases with single and couple closed loops are presented to demonstrate verification of the algorithm.
Author Rudranarayan Mukherjee - [Jet Propulsion Laboratory, California Institute of Technology]
Rudranarayan Mukherjee,,
-
-
, Paweł Malczyk (FPAE / IAAM)
Paweł Malczyk,,
- The Institute of Aeronautics and Applied Mechanics
Pages1-9
Publication size in sheets0.5
Book Proceedings of the 9th International Conference on Multibody Systems, Nonlinear Dynamics and Control, Proceedings of ASME, vol. 2013, no. 7A, 2013, ASME, ISBN 978-0-7918-5596-6
Keywords in EnglishDynamics (Mechanics) , Multibody systems , Algorithms , Modeling , Topology , Manufacturing, System dynamics , Kinematics
Abstract in Polishavailable only on-line
DOIDOI:10.1115/DETC2013-13305
URL http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830834
Languageen angielski
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 09-08-2020, BookChapterSeriesAndMatConfByIndicator
Ministerial score (2013-2016) = 15.0, 09-08-2020, BookChapterSeriesAndMatConfByIndicator
Publication indicators WoS Citations = 0; Scopus Citations = 8; GS Citations = 7.0
Citation count*7 (2020-09-09)
Cite
Share Share

Get link to the record


* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
Back
Confirmation
Are you sure?