Jixie chuandong (Feb 2022)
Research on Constraint Violation Elimination based on Projection Method
Abstract
Aiming at problem of constraint violation in solving the dynamics equation， a method combining the projection method with Udwadia-Kalaba equation is proposed. In this method，the numerical solutions of the zero-order and first-order generalized variables of the system are projected to the constrained manifold defined by the constraint equation， the offsets of the numerical solution are obtained， then the offsets are transformed into the constraint force and integrated into Udwadia-Kalaba equation to achieve the purpose of restraining the constraint violation. Compared with the improved Udwadia-Kalaba equation which only considers the first order constraint equation， the simulation results of dynamics model of industrial manipulator subject to constraint show that the modified method can effectively improve the calculation accuracy of generalized variables and zero-order and first-order constraint errors.
