Publication
On the requirements of interpolating polynomials for path motion constraints
| dc.contributor.author | Ambrósio, Jorge | |
| dc.contributor.author | Antunes, Pedro | |
| dc.contributor.author | Pombo, João | |
| dc.date.accessioned | 2016-04-28T09:18:55Z | |
| dc.date.available | 2016-04-28T09:18:55Z | |
| dc.date.issued | 2015 | |
| dc.description.abstract | In the framework of multibody dynamics, the path motion constraint enforces that a body follows a predefined curve being its rotations with respect to the curve moving frame also prescribed. The kinematic constraint formulation requires the evaluation of the fourth derivative of the curve with respect to its arc length. Regardless of the fact that higher order polynomials lead to unwanted curve oscillations, at least a fifth order polynomials is required to formulate this constraint. From the point of view of geometric control lower order polynomials are preferred. This work shows that for multibody dynamic formulations with dependent coordinates the use of cubic polynomials is possible, being the dynamic response similar to that obtained with higher order polynomials. The stabilization of the equations of motion, always required to control the constraint violations during long analysis periods due to the inherent numerical errors of the integration process, is enough to correct the error introduced by using a lower order polynomial interpolation and thus forfeiting the analytical requirement for higher order polynomials. | pt_PT |
| dc.identifier.citation | AMBRÓSIO, Jorge; [et al] - On the requirements of interpolating polynomials for path motion constraints. In 2nd International Conference on Interdisciplinary Applications in Kinematics. (Interdisciplinary Applications in Kinematics). ISSN 2211-0984. Vol. 26. 2015, pp. 179-197 | pt_PT |
| dc.identifier.doi | 10.1007/978-3-319-10723-3_19 | pt_PT |
| dc.identifier.isbn | 978-3-319-10723-3 | |
| dc.identifier.isbn | 978-3-319-10722-6 | |
| dc.identifier.issn | 2211-0984 | |
| dc.identifier.issn | 2211-0992 | |
| dc.identifier.uri | http://hdl.handle.net/10400.21/6106 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.publisher | Springer-Verlag Berlin | pt_PT |
| dc.subject | Multibody dynamics | pt_PT |
| dc.subject | Constraint violations | pt_PT |
| dc.subject | Moving frames | pt_PT |
| dc.subject | Constraint stabilization | pt_PT |
| dc.title | On the requirements of interpolating polynomials for path motion constraints | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Lima, Peru | pt_PT |
| oaire.citation.endPage | 197 | pt_PT |
| oaire.citation.startPage | 179 | pt_PT |
| oaire.citation.title | 2nd International Conference on Interdisciplinary Applications in Kinematics | pt_PT |
| oaire.citation.volume | 26 | pt_PT |
| rcaap.rights | closedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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