Variational integrators for constrained cables

K. Nichols*, T. D. Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Modeling of cable dynamics in cable-suspended robots traditionally focuses on implicit usage of Hamilton's principle or variational calculus to derive a PDE that governs the cable's evolution. An alternative formulation allows one to explicitly use the variational statement to directly calculate the cable's configuration update. Moreover, constraints on cables can experience numerical drift because of the indirect method by which constraints are represented in a PDE setting. Variational methods directly implement the constraint, ensuring that a constraint is satisfied for all time. Variational methods also allow the implicit treatment of constraints through generalized coordinates. In this paper, a special class of integrators known as variational integrators are used to simulate cable dynamics, including cables that have constraints, such as the catenary.

Original languageEnglish (US)
Title of host publication4th IEEE Conference on Automation Science and Engineering, CASE 2008
Pages802-807
Number of pages6
DOIs
StatePublished - 2008
Event4th IEEE Conference on Automation Science and Engineering, CASE 2008 - Washington, DC, United States
Duration: Aug 23 2008Aug 26 2008

Publication series

Name4th IEEE Conference on Automation Science and Engineering, CASE 2008

Other

Other4th IEEE Conference on Automation Science and Engineering, CASE 2008
CountryUnited States
CityWashington, DC
Period8/23/088/26/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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