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Ball-and-finger system: modeling and optimal trajectories

Ghazaei Ardakani, Mahdi LU and Magnusson, Fredrik LU (2018) In Multibody System Dynamics
Abstract
A rigid-body model of a finger interacting with a trackball is considered. The proposed system is a suitable candidate for studying trajectory generation when interaction plays an important role, such as in assembly and manipulation tasks. The mathematical model consists of a ball with a spherical joint constraint, a finger with three degrees of freedom, and the Coulomb friction model. From first principles, we derive a hybrid, high-index differential-algebraic equation for modeling the system dynamics, which is used for both simulation and finding optimal trajectories. For this problem, task planning, path planning, and trajectory generation are strongly interrelated, which makes using an integrated approach to trajectory generation... (More)
A rigid-body model of a finger interacting with a trackball is considered. The proposed system is a suitable candidate for studying trajectory generation when interaction plays an important role, such as in assembly and manipulation tasks. The mathematical model consists of a ball with a spherical joint constraint, a finger with three degrees of freedom, and the Coulomb friction model. From first principles, we derive a hybrid, high-index differential-algebraic equation for modeling the system dynamics, which is used for both simulation and finding optimal trajectories. For this problem, task planning, path planning, and trajectory generation are strongly interrelated, which makes using an integrated approach to trajectory generation inevitable. Moreover, the trajectory generation algorithm has to handle a number of important features, e.g., unilateral and non-holonomic constraints. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
epub
subject
keywords
Hybrid Dynamic Optimization, Optimal Trajectory, Dynamics with Contacts, Non-Holonomic Constraint
in
Multibody System Dynamics
publisher
Springer
external identifiers
  • scopus:85040905460
ISSN
1384-5640
DOI
10.1007/s11044-018-9617-8
language
English
LU publication?
yes
id
0de0a672-be3f-47e2-92b8-bec801330de5
date added to LUP
2018-01-17 11:10:00
date last changed
2018-02-11 04:34:14
@article{0de0a672-be3f-47e2-92b8-bec801330de5,
  abstract     = {A rigid-body model of a finger interacting with a trackball is considered. The proposed system is a suitable candidate for studying trajectory generation when interaction plays an important role, such as in assembly and manipulation tasks. The mathematical model consists of a ball with a spherical joint constraint, a finger with three degrees of freedom, and the Coulomb friction model. From first principles, we derive a hybrid, high-index differential-algebraic equation  for modeling the system dynamics, which is used for both simulation and finding optimal trajectories. For this problem, task planning, path planning, and trajectory generation are strongly interrelated, which makes using an integrated approach to trajectory generation inevitable. Moreover, the trajectory generation algorithm has to handle a number of important features, e.g., unilateral and non-holonomic constraints. },
  author       = {Ghazaei Ardakani, Mahdi and Magnusson, Fredrik},
  issn         = {1384-5640},
  keyword      = {Hybrid Dynamic Optimization,Optimal Trajectory,Dynamics with Contacts,Non-Holonomic Constraint},
  language     = {eng},
  month        = {01},
  publisher    = {Springer},
  series       = {Multibody System Dynamics},
  title        = {Ball-and-finger system: modeling and optimal trajectories},
  url          = {http://dx.doi.org/10.1007/s11044-018-9617-8},
  year         = {2018},
}