Johannes Gerstmayr

Multibody System Dynamics, Robotics and Control Johannes Gerstmayr 2013 edition

Marc Notes: In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers in this text aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification. Table of Contents: F. G. Flores, A. Kecskemethy: Time-optimal path planning along specified trajectories.- L. Messner, H. Gattringer, H. Bremer: Efficient online computation of smooth trajectories along geometric paths for robotic manipulators.- R. G. K. M. Aarts: Constraint and dynamic analysis of compliant mechanisms with a flexible multibody modelling approach. - P. Eberhard, Q. Tang: Sensor data fusion for the localization and position control of one kind of omnidirectional mobile robots. - M. Schoberl, A. Siuka: Modelling and control of infinite-dimensional mechanical systems: a port-Hamiltonian approach. - P. Staufer, H. Gattringer: Passivity-based tracking control of a flexible link robot. - D. Schindele, H. Aschemann: Norm-optimal iterative learning control for a pneumatic parallel robot. - M. A. Roa, C. Ott: Balance and posture control for biped robots. - C. Woernle et al.: Robot-based testing of total joint replacements. - T. Buschmann et al.: Dynamics and control of the biped robot Lola. - M. Hofbaur, C. Gruber, M. Brandstotter: Automated kinematics reasoning for wheeled mobile robots. - R. Ludwig, J. Gerstmayr: Automatic paramenter identification for mechatronic systems. - M. E. Baharudin et al.: Crane operators training based on the real-time multibody simulation. - H. Irschik et al.: On a momentum based version of Lagrange's equations. - C. Zehetner, G. Zenz: Vibration control and structural damping of a rotating beam by using piezoelectric actuators. - J. A. C. Ambrosio: Multibody dynamics approaches to biomechanical applications to human motion tasks. - T. Bruckmann, W. Lalo, C. Sturm: Application examples of wire robots."