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Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
(Multidisciplinary Digital Publishing Institute, 2016)
[Abstract] This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with ...
Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
(2016-04)
[Abstract] Augmented Lagrangian methods represent an efficient way to carry out the forward-dynamics simulation of mechanical systems. These algorithms introduce the constraint forces in the dynamic equations of the system ...
Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
(2016-06)
[Abstract]
Many applications of wheeled robots include operations in unstructured environments. Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit the ability of the robot to achieve ...
Load assessment and analysis of impacts in multibody systems
(2016-09)
[Abstract] The evaluation of contact forces during an impact requires the use of continuous force based methods. An accurate prediction of the impact force demands the identification of the contact parameters on a case-by-case ...