A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method
A partial Lagrangian method is proposed as an inverse dynamics analysis method for multi-link systems. This method, combined with automatic differentiation, allows for the derivation of equations of motion and analytical extraction of motion-induced torque components. We introduce the concept of mot...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/5/54 |
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| author | Hironori Gunji Takashi Kusaka Takayuki Tanaka |
| author_facet | Hironori Gunji Takashi Kusaka Takayuki Tanaka |
| author_sort | Hironori Gunji |
| collection | DOAJ |
| description | A partial Lagrangian method is proposed as an inverse dynamics analysis method for multi-link systems. This method, combined with automatic differentiation, allows for the derivation of equations of motion and analytical extraction of motion-induced torque components. We introduce the concept of motion propagation force to describe joint torque components generated by the motion of other joints. This concept aligns with existing notions such as interaction torque, while providing a novel analytical perspective. The effectiveness of the proposed method is confirmed through simulations using a three-DoF arm model, where motion propagation torques are visualized and validated. This method is useful for motion analysis and impedance control in complex robotic systems. |
| format | Article |
| id | doaj-art-19f0f10a13b644a594b9d6d2488c0dc7 |
| institution | OA Journals |
| issn | 2218-6581 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-19f0f10a13b644a594b9d6d2488c0dc72025-08-20T02:33:58ZengMDPI AGRobotics2218-65812025-04-011455410.3390/robotics14050054A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian MethodHironori Gunji0Takashi Kusaka1Takayuki Tanaka2Graduate School of Information Science and Technology, Hokkaido University, Sapporo 060-0867, JapanFaculty of Information Science and Technology, Hokkaido University, Sapporo 060-0867, JapanFaculty of Information Science and Technology, Hokkaido University, Sapporo 060-0867, JapanA partial Lagrangian method is proposed as an inverse dynamics analysis method for multi-link systems. This method, combined with automatic differentiation, allows for the derivation of equations of motion and analytical extraction of motion-induced torque components. We introduce the concept of motion propagation force to describe joint torque components generated by the motion of other joints. This concept aligns with existing notions such as interaction torque, while providing a novel analytical perspective. The effectiveness of the proposed method is confirmed through simulations using a three-DoF arm model, where motion propagation torques are visualized and validated. This method is useful for motion analysis and impedance control in complex robotic systems.https://www.mdpi.com/2218-6581/14/5/54Lagrange equationautomatic differentiationmotion propagation |
| spellingShingle | Hironori Gunji Takashi Kusaka Takayuki Tanaka A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method Robotics Lagrange equation automatic differentiation motion propagation |
| title | A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method |
| title_full | A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method |
| title_fullStr | A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method |
| title_full_unstemmed | A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method |
| title_short | A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method |
| title_sort | motion propagation force analysis of multi dof systems using the partial lagrangian method |
| topic | Lagrange equation automatic differentiation motion propagation |
| url | https://www.mdpi.com/2218-6581/14/5/54 |
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