GAMM2025

Session

S01: Multi-Body Dynamics and Robotics

S01

8 Apr 2025, 16:30

Lecture and Conference Centre

Conveners

S01: Multi-Body Dynamics and Robotics: S01.01

• Paweł Malczyk
• Henrik Ebel

S01: Multi-Body Dynamics and Robotics: S01.02

• Henrik Ebel
• Giuseppe Capobianco

S01: Multi-Body Dynamics and Robotics: S01.03

• Grzegorz Orzechowski
• Henrik Ebel

Description

Multibody dynamics enables the simulation of a wide variety of systems, all characterized by having multiple parts in relative motion with one another. Applications span from biological to engineering systems, requiring diverse capabilities which range from real-time simulation to high fidelity modeling of complex multidisciplinary systems. Goal of this mini-symposium is to present a view on the latest developments in models and advanced numerical methods in multibody dynamics. Focus is on techniques that enable applications to complex real-life problems.

1. Trajectory scaling for redundant manipulators—evolution of selected algorithms

Marek Wojtyra

08/04/2025, 16:30

In robotics, trajectory generation is a vital topic, especially in the case of planning motion that dynamically changes in response to the robot's interaction with its environment. Generating a feasible trajectory in the task space requires considering the position, velocity, and acceleration bounds imposed on the joint space motion. Due to nonlinear mapping between the task and joint spaces,...

4. Optimal control of a pendulum driven via a frictional clutch: Challenges and solution approaches

Giuseppe Capobianco

08/04/2025, 17:10

For many engineering applications, friction is vital for their functionality. For walking and driving for example, the friction with the ground is exploited for locomotion. From a mathematical point of view, one of the main hurdles for the optimal control of systems with friction is the strong nonlinearity or even nonsmoothness introduced by slip-stick transitions, for example.

In this...

5. Data-Driven Inverse Dynamics Control for a Five-bar Parallel Robot

Paweł Malczyk

08/04/2025, 17:30

Traditionally, building an inverse dynamics model to control a multibody system (MBS) involves deriving it from first principles. Such physics-based representations lead to ordinary differential or differential-algebraic formulations, which extrapolate well by design and are usually preferred in model-based control strategies. Nevertheless, it is often that parameters of the model remain...

6. Improving the accuracy of a generalized-α method for multibody system models with large rotations

Martin Arnold

08/04/2025, 17:50

Lie group integrators help to avoid singularities in the dynamical simulation of multibody systems with large rotations by solving initial value problems for (ordinary) differential equations on manifolds with Lie group structure.

For one-step methods, the application of classical ODE time integration methods to a locally defined equivalent ODE in terms of local coordinates has become a...

7. Challenges of bringing ML-assisted Model Predictive Control for Wind Turbines into Industrial Practice

János Zierath

09/04/2025, 08:30

Energy transition is one of the great challenges for engineers in the next decades. Caused by its energy density wind turbines will be one of the major energy sources of the future. Tasks of the energy transition will not only be the pure energy production, but also the ensuring of energy supply for industrial and private consumer at any time. For economic reasons lossy energy storage through...

8. Incorporating Nonlinear Elastic Forces in the Nodal-Based Floating Frame of Reference Formulation

Stefan Holzinger

09/04/2025, 09:10

Large deformations cannot be neglected in many engineering dynamics applications due to their significant contribution to the overall system dynamics. For instance, human gait analysis often employs multibody models that conventionally represent body segments as rigid bodies. However, bones are covered with muscles and other soft tissues that are not rigidly connected with the bones but act as...

9. Techniques for recovering stresses from dynamic multibody simulations for fatigue assessment

Aleksandr Nemov

09/04/2025, 09:30

Fatigue estimation is an essential aspect of robust machine design. To prevent potential problems with fatigue in operating machines, typical designs are conservative in excluding fatigue damage under predicted working conditions. However, such an approach results in heavy, bulky, energy-inefficient designs with restricted payload and operation speed. We need a robust and online fatigue...

10. Analysis of Frictional Sliding Contact in Magnetic Track Brakes: A Simplified Methodology

Emin Kocbay

09/04/2025, 09:50

Magnetic Track Brakes (MTBs) are used in railway systems as emergency braking mechanisms that involve mechanical contact between a braking element (pole shoe) and the rail. Accurate prediction of both local and global contact forces and associated deformations occurring during braking is essential for optimizing the performance of the overall braking system. To this end, it is necessary to...

11. Energy- and constraint-preserving integration for elastically coupled multi-body systems

Paul Kotyczka

09/04/2025, 16:30

Various approaches exist to preserve the underlying geometric structures of mechanical systems under spatial discretization or numerical integration. They can be constructed to guarantee symplecticity of the discrete Hamiltonian flow, to respect the manifold structure of the configuration space (both is true in Lie group variational integrators, see e.g. [1]), or to preserve the energy...

12. Galerkin-based approach for time integration of the rigid body in quaternion formulation

Marvin May

09/04/2025, 16:50

Simulating the dynamics of multibody systems involves dealing with finite rotations, which presents a key challenge in numerical mechanics due to the fact that rotations are governed by nonlinear transformations. In this contribution, we utilize a mixed variational time approach to analyze rigid body dynamics. Time integration is based on a discretization of the Hamilton`s principle for...

13. Practical Insights on Data-Based Robot Control: A Comparative Analysis of Data-Enabled Predictive Control and Model-Based Predictive Control

Jingshan Chen

09/04/2025, 17:10

Model predictive control (MPC) is a leading approach in modern control system design, as it effectively considers system dynamics and operational constraints and as it can anticipate behavior. However, when dealing with unknown or overly complex systems that cannot be fully described with first-principles models, can we still predict and control their behavior effectively with MPC? Recently,...