지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2002.8
- 수록면
- 1,072 - 1,078 (7page)
이용수
초록· 키워드
오류제보하기
The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nonholonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.
목차
Abstract
1.Introduction
2.Constraint force
3.Application 1
4.Application 2
5.Conclusions
References
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Explicit Motion of Dynamic Systems with Position Constraints
Journal of Mechanical Science and Technology
2003 .04
-
Analytical Method for Constrained Mechanical and Structural Systems
Journal of Mechanical Science and Technology
2004 .10
-
Structural and Mechanical Systems Subjected to Constraints
Journal of Mechanical Science and Technology
2004 .11
-
구속된 시스템 운동방정식의 수치해석에 관한 연구
소음·진동
1997 .10
-
일반화된 역행렬법의 역학적 해석에 관한 연구
대한건축학회 논문집 - 구조계
2005 .06
-
Constrained Dynamic Responses of Structures Subjected to Earthquake
ARCHITECTURAL RESEARCH
2006 .12
-
A New Approach for Motion Control of Constrained Mechanical Systems : Using Udwadia-Kalaba’s Equations of Motion
International Journal of Precision Engineering and Manufacturing
2001 .11
-
Energy Constraint Control in Numerical Simulation of Constrained Dynamic Systems
대한전자공학회 학술대회
1991 .01
-
Energy Constraint Control in Numerical Simulation of Constrained Dynamic Systems
제어로봇시스템학회 국내학술대회 논문집
1991 .10
-
구속된 다물체 시스템에 대한 운동 방정식의 미분 방정식화 및 동역학 해석
한국자동차공학회논문집
1997 .01
-
연계된 Bar 구조물의 정적 평형에 관한 연구
대한건축학회 논문집 - 구조계
2003 .03
-
Generalized Inverse법의 구속된 운동방정식의 수정된 수치 해석 ( A Modified Numerical Analysis for Constrained Equation of Motion Provided by Generalized Inverse Method )
대한건축학회 논문집 - 구조계
2001 .11
-
On the Description of Constrained Static Behavior of Continuous System
ARCHITECTURAL RESEARCH
2007 .06
-
Grinding Experiment by Direct Position/Force Control with On-line Constraint Estimation
제어로봇시스템학회 국제학술대회 논문집
2009 .08
-
진동을 받는 건축물의 제어에 관한 연구 ( A Study on Control of Structures Under Vibration )
대한건축학회 학술발표대회 논문집 - 구조계
1996 .10
-
Constrained Static Implicit Algorithm Based on One-step Inverse Finite Element Method
기타자료
2008 .09
-
Modal Analysis of Constrained Multibody Systems Undergoing Constant Accelerated Motions
Journal of Mechanical Science and Technology
2004 .07
-
A Computer Method for the Dynamic Analysis of a System of Rigid Bodies in Plane Motion
Journal of Mechanical Science and Technology
2004 .02
-
구속받는 3차원 유연 매니퓰레이터의 컴플라이언스 해석
한국생산제조학회지
2006 .06
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2009-550-014049354