This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Dual-Arm Dynamic Motion Simulation and Prediction of Joint Constraint Loads Using Optimization
Technical Paper
2007-01-2491
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Our previous formulation for optimization-based dynamic motion simulation of a serial-link human upper body (from waist to right hand) is extended to predict the motion of a tree-structured human model that includes the torso, right arm, and left arm, with various applied external loads. The dynamics of tree-structured systems is formulated and implemented. The equations of motion for the tree structures must be derived carefully when dealing with the connection link. The optimum solution results show realistic dual-arm human motions and the required joint actuator torques.
In the second part of this paper, a new method is introduced in which the constraint forces and moments at the joints are calculated along with the motion and muscle-induced actuator torques. A set of fictitious joints are modeled in addition to the real joints. Then the constraint forces/moments for the fictitious joints are obtained from an extension of our optimization method together with zero-displacement constraints. Our formulation provides a multi-body dynamics method that does not require numerical integration and results in accurate joint constraint loads.
Authors
Citation
Kim, J., Abdel-Malek, K., Yang, J., and Nebel, K., "Dual-Arm Dynamic Motion Simulation and Prediction of Joint Constraint Loads Using Optimization," SAE Technical Paper 2007-01-2491, 2007, https://doi.org/10.4271/2007-01-2491.Also In
SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems
Number: V116-6; Published: 2008-08-15
Number: V116-6; Published: 2008-08-15
References
- Kim, J.H. Abdel-Malek, K. Yang, J. Marler, T. “Prediction and Analysis of Human Motion Dynamics Performing Various Tasks,” The International Journal of Human Factors Modeling and Simulation 1 1 69 94 2006
- Hase, K. Yamazaki, N. “Development of three-dimensional whole-body musculoskeletal model for various motion analyses,” JSME International Journal 40 1 25 32 Mar. 1997
- Lo, J. Huang, G. Metaxas, D. “Human motion planning based on recursive dynamics and optimal control techniques,” Multibody System Dynamics 8 4 433 458 Nov. 2002
- Gorce, P. “Dynamic postural control method for biped in unknown environment,” IEEE Transactions on Systems, Man and Cybernetics 29 6 616 626 Nov. 1999
- Kawasaki, H. Beniya, Y. Kanzaki, K. “Minimum dynamics parameters of tree structure robot models,” Proceedings of IEEE International Conference on Industrial Electronics, Control and Instrumentation (IECON ‘91) Kobe, Japan 2 1100 1105 1991
- Nakamura, Y. Yamane, K. “Dynamics computation of structure-varying kinematic chains and its application to human figures,” IEEE Transactions on Robotics and Automation 16 2 124 134 Apr. 2000
- Bobrow, J.E. Martin, B. Sohl, G. Wang, E. C. Park, F.C. Kim, J. “Optimal robot motions for physical criteria,” Journal of Robotic Systems 18 12 785 795 Dec. 2001
- Featherstone, R. Orin, D. “Robot dynamics: equations and algorithms,” Proceedings of IEEE International Conference on Robotics and Automation (ICRA ‘00) 1 826 834 2000
- Denavit, J. Hartenberg, R.S. “A kinematic notation for lower-pair mechanisms based on matrices,” Journal of Applied Mechanics 77 215 221 1955
- Greenwood, D.T. Principles of Dynamics Second Prentice-Hall 1988
- Haug, E.J. Computer aided kinematics and dynamics of mechanical systems Allyn and Bacon Boston 1989
- Cuadrado, J. Cardenal, J. Bayo, E. “Modeling and Solution Methods for Efficient Real-Time Simulation of Multibody Dynamics,” Multibody System Dynamics 1 3 259 280 Sep. 1997
- Baysec, S. Jones, J.R. “A generalized approach for the modeling of articulated open chain planar linkages,” Robotica 15 5 523 531 1997
- Langhaar, H.L. Energy Methods in Applied Mechanics Krieger Publishing Co. 1989
- Sciavicco, L. Siciliano, B. Modeling and Control of Robot Manipulators McGraw Hill 1996