Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition

Many mechanical systems such as vehicles, robots and space structures are comprised of a lot interconnected components. The motion the components is constrained because joints or specified trajectories. Multibody dynamics one effective methods to analyze nonlinear dynamic behavior for systems. On other hand, it quite difficult obtain all parameters required numerical simulation by only direct measurement in complex Therefore, parameter estimation identification techniques crucial practical problems. This study aims develop technique based on adjoint method which can be applied mathematical models used multibody dynamics, namely, differential algebraic equations. In addition, feature extraction proper orthogonal decomposition incorporated into order evaluate effect model uncertainties an accuracy estimation, joint often involve due inherent physical characteristics friction, contact so on. validity present discussed experiments using rigid