Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual codin...

Using finite element method and multi-body dynamics method, this study established an engine digitalized virtual prototype embraced tribological characteristics in virtual prototype and MATLAB platform, and introduced Elastohydrodynamics theory into the system, wrote program with difference equation method, and solved the Reynolds Equation through shafting-bearing self-feedback control system, ...

This paper introduces a methodology to simulate the dynamics of deformable visco-elastic 3-dimensional bodies in real-time for haptic interaction. The method is based upon a nite element approach. The central idea in this scheme is to reduce the computation required in regions which are to the periphery of the region of interaction between the virtual haptic device and the virtual body. This is...

The success of the Genesis spacecraft, as well as the current Artemis mission, continue to generate interest in expanding the trajectory options for future science and exploration goals throughout the solar system. Incorporating multi-body dynamics into the preliminary design can potentially offer flexibility and influence the maneuver costs to achieve certain objectives. In the current analysi...

A fast dynamics model that captures the deployment of self-actuated, origami-inspired, folded planar spacecraft structures is desired for design and verification applications. In this paper, a general simulation framework numerically generating equations motion any structure complies with set pattern assumptions presented. The built through application articulated body forward algorithm tree-au...

This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a class of underactuated aerial systems. Two control methods are developed: coordinate-based and coordinate-free which are both generally applicable to aerial manipulat...

Thispapergives the general constrainedPoincaré equationsofmotion formechanical systems subjected to holonomic and/or nonholonomic constraints that may or may not satisfy d’Alembert’s principle at each instant of time. It also extends Gauss’s principle of least constraint to include quasi-accelerations when the constraints are ideal, thereby expanding the compass of thisprinciple considerably.Th...

Biomechanical modeling of the human musculoskeletal system requires the gathering of several different scientific disciplines, including neurophysiology, anatomy, multi-body dynamics, control theory, among others. This invited lecture paper will address some results of the authors’ last years of research in this field in collaboration with his colleagues, showing some results in muscle modeling...