Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 54 for “"inverse dynamics"”.
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Adaptive Inverse Dynamics Control Scheme of Two-Compartment Lung System
A study of using an adaptive inverse dynamics control technique to a two-compartment modeled respiratory system. Based on the nonlinear respiratory model and desired respiratory volumes, the adaptive inverse dynamics control scheme consisting of a control law and an adaptation law is then applied. …
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Optimization-Based Inverse Dynamics to Reduce Errors in Estimated Joint Torques
… research suggests that the sequential optimized inverse dynamics approach has the potential to significantly reduce errors in joint torque calculations.
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A neural network-based controller for a single-link flexible manipulator using the inverse dynamics approach
… manipulator. Motivated by the well-known inverse dynamics control approach for rigid-link manipulators, two multi-layer feedforward neural networks are developed to learn the nonlinearities of the system dynamics. The re-defined output scheme is used by feeding back this output to …
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Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
… modeled and simulated in MSC ADAMS/View. Forward dynamics simulation is done on the Stewart-Gough parallel manipulator; Inverse dynamics simulation is done on Slider-Crank mechanism, 2R planar serial robot and 4-bar mechanism. In forward dynamics simulation, the forces are applied in prismatic …
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Control of the motion of nonholonomic systems
… of the system can be separated from the dynamics of the system by using successively two inverse dynamics type of transformations. This leads to a linear decoupled kinematical system, control strategies can then be developed that directly control the motion of the system. The method is …
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Modelo biomecânico de corpo inteiro com coordenadas naturais para análise de movimento humano
… contact surface kinematical pairs. For direct dynamics simulation, the model comprised 44 degrees of freedom and, for inverse dynamics analysis, 66. The inverse dynamics results were validated by an alternative formulation based on NewtonEuler equations, presenting maximum errors of (1,4±0,4) …
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Use of Body Composition Imaging to Calculate 3-D Inertial Parameters for Inverse Dynamic Analysis of Youth Pitching Arm Kinetics
… arm kinetic predictions using full DXA-driven inverse dynamics vs scaled, DXA mass-driven (using DXA masses but scaled centers of mass and radii of gyration), and DXA scaled inverse dynamics(ID) (using the full DXA-driven inertial parameters averaged across all participants), 2) examine …
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Mathematical modeling and simulation of human motion using 3-dimensional, multi-segment coupled pendulum system : derivation of a generalized formula for equations of motion
The use of mathematical models to investigate the dynamics of human movement relies on two approaches: forward dynamics and inverse dynamics. In this investigation a new modeling approach called the Boundary Method is outlined. This method addresses some of the disadvantages of both the forward and …
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Failure Analysis of the Ulnar Collateral Ligament for Youth Baseball Pitchers
… to (1) use kinetics from motion analysis and inverse dynamics to calculate the stress experienced by the ulnar collateral ligament (UCL) during a typical pitch cycle, (2) compare calculated maximum UCL pitching stresses to failure properties, and (3) investigate correlations between UCL stress …
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Multi-objective inversion-based control of building integrated energy systems
… of the building. The controller employs the inverse dynamics of the building, mechanical/servicing systems, and energy storage with a robust control methodology. This inverse dynamics provides the controller with knowledge of the complex cause and effect relationships between the system, the …
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Tools and methods for the quality assurance of force platforms in human movement analysis
… or gait analysis. Chapter 2. Description of the inverse dynamics, the most common method used in the field of HMA. This method uses the signals measured by a FP to estimate kinetic quantities, such as joint forces and moments. The measures of these variables can not be taken directly, unless very …
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High flexion kinematics and kinetics for the improvement of artificial knee joints
… of daily living using a simple, non-invasive, inverse dynamics based model. The accuracy of the joint contact force estimates was investigated by comparing the estimated forces to in vivo forces measured directly using implanted instrumented tibial components. The comparison showed that the …
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Towards Efficient Hydraulic Manipulator Control using Learning-Based Model Predictive Control
… due to the prevalent nonlinear and complex dynamics. As a result, automation and control of such machines has only proceeded as far as tele-operation. Recently, research has explored the use of Gaussian Process Regression (GPR) to enhance the modelling of manipulator dynamics, ultimately …
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Aging effect on successful reactive-recovery from unexpected slips: a 3D lower extremity joint moment analysis
… study was to perform three-dimensional (3D) inverse dynamics analysis to determine lower extremity (ankle, knee and hip) joint moments on previously collected slip perturbation experimental data. In addition, the aging effect on the joint moment generation in both normal walking and …
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Gait analysis of the hind limb in Labrador Retrievers with and without cranial cruciate ligament disease
… gait in human and veterinary subjects. The inverse dynamics analysis approach models the limb as a series of connected linkages and integrates morphometric data to yield information about the net joint moment, patterns of muscle power and joint reaction forces. The results of these studies …
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Neural network-based control of flexible-link manipulators
… many difficulties in modeling the manipulator dynamics and guaranteeing stable and efficient motion of the manipulator end-effector. Control difficulties are mainly due to the non-colocated nature of the sensor and actuator position, which results in unstable zero dynamics. Further …
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Modeling of the UNLV-Aro light-weight robot using Lagrange's assumed mode method, symbolic manipulation, and numerical simulation
This thesis modeled the dynamics of the UNLV-ARO serially connected light-weight robot. The two outer-most links of the robot exhibited flexible behavior in the in-plane and the out-of-plane directions. Lagrangian mechanics were used to model this system. Assumed modes method was used to …
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The influence of load on kinematics of computer-simulated sagittal-plane lifting.
… from the literature. Using both forward and inverse dynamics approaches, the model was programmed to lift various loads while tracking lift kinematics measured from a human subject. Simulation results suggest that, contrary to common hypotheses, observed lifting patterns are not dictated by …
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Inversion of input/output map, sliding mode and nonlinear flight control system design
… control system design. These are: (i) Non-Linear Inverse Dynamics and (ii) Variable Structure Control; These two schemes of design are applied to a realistic aircraft flight model. The equations of motion are highly nonlinear and the design of a control system for large roll-coupled maneuvers is …
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