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Hamiltonian approach toward efficient modeling of large-scale multibody systems with friction and toward real-time simulations of robotic systems

2018/29/B/ST8/00374

Keywords

Descriptors

  • ST8_3: Inżynieria obliczeniowa, komputerowe wspomaganie modelowania, projektowania i produkcji
  • ST6_12: Obliczenia naukowe, narzędzia modelowania i symulacji

Panel

ST8 – Production and processes engineering: modelling, product design, process design and control, construction methods and engineering, power units and systems

Host institution

Politechnika Warszawska, Wydział Mechaniczny Energetyki i Lotnictwa

Voivodeship: mazowieckie

Other projects carried out by the institution »

Principal investigator (from the host institution)

prof. Janusz Frączek

Number of co-investigators in the project: 6

Call

OPUS 15 – announced on 2018-03-15

Amount awarded
835 600 PLN
Project start date
2019-01-21
Project end date
2023-01-20
Project duration
48 months (the same as in the proposal)
Project status
Project settled

Project description

Download the project description in a pdf file

Note — project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Equipment purchased [PL]

  1. Nadgarstkowy czujnik siły. Cost: 15 000 PLN
  2. Komputer równoległy wyposażony w karty GPU. Cost: 43 000 PLN
  3. Komputery PC oraz urządzenia peryferyjne (w tym drukarka i skaner) (3 pcs). Cost: 12 000 PLN
  4. Obiekt regulacji z sensorami i zasilaczem. Cost: 40 221 PLN
  5. Rekonfigurowalna, modułowa aparatura kontrolno-pomiarowa. Cost: 14 000 PLN
  6. Zestaw czujników ruchu i odkształceń. Cost: 11 000 PLN

Information in the final report

Publication in academic press/journals (6)

  1. A Novel QP-Based Kinematic Redundancy Resolution Method With Joint Constraints Satisfaction

    Authors:
    Łukasz Woliński, Marek Wojtyra
    Academic press:
    IEEE Access (year: 2022, volume: 10, pages: 41023-41037), Publisher: IEEE
    Status:
    Published
    DOI:
    10.1109/ACCESS.2022.3167403 – link to the publication

  2. Utilization of the Moore-Penrose inverse in the modeling of overconstrained mechanisms with frictionless and frictional joints

    Authors:
    Marek Wojtyra, Marcin Pękal, Janusz Frączek
    Academic press:
    Mechanism and Machine Theory (year: 2020, volume: 153, pages: 103999), Publisher: ElsevierLtd.
    Status:
    Published
    DOI:
    10.1016/j.mechmachtheory.2020.103999 – link to the publication

  3. An investigation of a novel LuGre-based friction force model

    Authors:
    Filipe Marques, Łukasz Woliński, Marek Wojtyra, Paulo Flores, Hamid M. Lankarani
    Academic press:
    Mechanism and Machine Theory (year: 2021, volume: 166, pages: 104493), Publisher: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.mechmachtheory.2021.104493 – link to the publication

  4. Hardware acceleration of multibody dynamics simulations in the Hamiltonian-based divide-and-conquer framework

    Authors:
    Szymon Turno, Paweł Malczyk
    Academic press:
    Multibody System Dynamics (year: 2022, volume: —, pages: 25-53), Publisher: Springer
    Status:
    Published
    DOI:
    10.1007/s11044-022-09860-x – link to the publication

  5. Hamiltonian direct differentiation and adjoint approaches for multibody system sensitivity analysis

    Authors:
    Paweł Maciąg, Paweł Malczyk, Janusz Frączek
    Academic press:
    International Journal for Numerical Methods in Engineering (year: 2020, volume: 121(22), pages: 5082-5100), Publisher: Wiley
    Status:
    Published
    DOI:
    10.1002/nme.6512 – link to the publication

  6. Adjoint Method For Optimal Control of Multibody Systems in the Hamiltonian Setting

    Authors:
    Maciej Pikuliński, Paweł Malczyk
    Academic press:
    Mechanism and Machine Theory (year: 2021, volume: 166, pages: 104473), Publisher: Elsevier Ltd.
    Status:
    Published
    DOI:
    10.1016/j.mechmachtheory.2021.104473 – link to the publication

Articles in post-conference publications (1)

  1. On Handling Discontinuities in Adjoint-based Optimal Control of Multibody Systems

    Authors:
    Maciej Pikuliński, Paweł Malczyk
    Conference:
    The 26th International Conference on Methods and Models in Automation and Robotics (MMAR 2022) (year: 2022, pages: 98-103), Publisher: IEEE
    Date:
    conference 22-25 August, 2022
    Status:
    Published

Book publications / chapters in book publications (9)

  1. The Discrete Hamiltonian-Based Adjoint Method for Some Optimization Problems in Multibody Dynamics

    Authors:
    Paweł Maciąg, Paweł Malczyk, Janusz Frączek
    Book:
    Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences (year: 2020, volume: 53, pages: 359-366), Publisher: Springer Nature Switzerland AG
    Status:
    Published

  2. The Moore-Penrose Inverse Approach to Modeling of Multibody Systems with Redundant Constraints

    Authors:
    Marek Wojtyra
    Book:
    Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science (year: 2019, volume: 73, pages: 3087-3096), Publisher: Springer Nature Switzerland AG
    Status:
    Published

  3. Direct sensitivity analysis of planar multibody systems in the Hamiltonian framework

    Authors:
    Paweł Maciąg, Paweł Malczyk, Janusz Frączek
    Book:
    Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science (year: 2019, volume: 73, pages: 3097-3106), Publisher: Springer Nature Switzerland AG
    Status:
    Published

  4. Proposition of On-Line Velocity Scaling Algorithm for Task Space Trajectories

    Authors:
    Marek Wojtyra, Łukasz Woliński
    Book:
    ROMANSY 23 - Robot Design, Dynamics and Control. Proceedings of the 23rd CISM IFToMM Symposium (year: 2021, volume: 601, pages: 423-431), Publisher: Springer Nature
    Status:
    Published

  5. Sterowanie optymalne mechanizmem płaskim identyfikowanym z danych

    Authors:
    Maciej Pikuliński, Paweł Malczyk
    Book:
    Postępy Robotyki, Tom I i II. Prace Naukowe Politechniki Warszawskiej, Elektronika (year: 2022, volume: 197, pages: 191-200), Publisher: Oficyna Wydawnicza Politechniki Warszawskiej
    Status:
    Published

  6. Stabilizacja przestrzennego wahadła o dwóch stopniach swobody z zastosowaniem metody adjoint

    Authors:
    Paweł Maciąg, Paweł Malczyk, Janusz Frączek
    Book:
    Postępy Robotyki, Tom I i II. Prace Naukowe Politechniki Warszawskiej, Elektronika (year: 2022, volume: 197, pages: 181-190), Publisher: Oficyna Wydawnicza Politechniki Warszawskiej
    Status:
    Published

  7. Algorytm skalowania prędkości dla trajektorii w przestrzeni zadań

    Authors:
    Marek Wojtyra, Łukasz Woliński
    Book:
    Postępy Robotyki, Tom I i II. Prace Naukowe Politechniki Warszawskiej, Elektronika (year: 2022, volume: 197, pages: 213-222), Publisher: Ofucyna Wydawnicza Politechniki Warszawskiej
    Status:
    Published

  8. Optimal Control of Open–Loop Multibody Systems Recovered from Data

    Authors:
    Maciej Pikuliński, Paweł Malczyk
    Book:
    IUTAM Bookseries (year: 2023, volume: 1, pages: 46034), Publisher: IUTAM
    Status:
    Accepted for publication

  9. Parameter identification for two-axis gimbal system and its kinematic calibration

    Authors:
    Łukasz Rówienicz, Paweł Malczyk
    Book:
    Springer Proceedings in Mathematics & Statistics: Dynamical Systems in Applications (year: 2022, volume: —, pages: 46040), Publisher: Springer
    Status:
    Accepted for publication

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