Computational Models satisfying relative angle constraints for 2-dimensional segmented bodies

Munzir Said, Leslie Jennings, M.T. Koh

    Research output: Contribution to journalArticle

    Abstract

    Planar hinged segmented bodies have been used to represent models of biomechanical systems. One characteristic of a segmented body moving under gravitational acceleration and torques between segments is the possibility that the body's segments spin through more than a revolution or past a natural limit, and a computational mechanism to stop such behaviour should be provided. This could be done by introducing angle constraints between segments, and computational models utilising optimal control are studied here. Three models to maintain angle constraints between segments are proposed and compared. These models are: all-time angle constraints, a restoring torque in the state equations and an exponential penalty model. The models are applied to a 2-D three-segment body to test the behaviour of each model when optimising torques to minimise an objective. The optimisation is run to find torques so that the end effector of the body follows the trajectory of a half-circle. The result shows the behaviour of each model in maintaining the angle constraints. The all-time constraints case exhibits a behaviour of not allowing torques (at a solution) which makes segments move past the constraints, while the other two show a flexibility in handling the angle constraints which is more similar to what occurs in a real biomechanical system.
    Original languageEnglish
    Pages (from-to)541-554
    JournalAnziam Journal
    Volume47
    Issue number4
    DOIs
    Publication statusPublished - 2006

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    Computational Model
    Angle
    Torque
    Model
    State Equation
    Penalty
    Optimal Control
    Circle
    Flexibility
    Trajectory
    Minimise
    Optimization

    Cite this

    Said, Munzir ; Jennings, Leslie ; Koh, M.T. / Computational Models satisfying relative angle constraints for 2-dimensional segmented bodies. In: Anziam Journal. 2006 ; Vol. 47, No. 4. pp. 541-554.
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    abstract = "Planar hinged segmented bodies have been used to represent models of biomechanical systems. One characteristic of a segmented body moving under gravitational acceleration and torques between segments is the possibility that the body's segments spin through more than a revolution or past a natural limit, and a computational mechanism to stop such behaviour should be provided. This could be done by introducing angle constraints between segments, and computational models utilising optimal control are studied here. Three models to maintain angle constraints between segments are proposed and compared. These models are: all-time angle constraints, a restoring torque in the state equations and an exponential penalty model. The models are applied to a 2-D three-segment body to test the behaviour of each model when optimising torques to minimise an objective. The optimisation is run to find torques so that the end effector of the body follows the trajectory of a half-circle. The result shows the behaviour of each model in maintaining the angle constraints. The all-time constraints case exhibits a behaviour of not allowing torques (at a solution) which makes segments move past the constraints, while the other two show a flexibility in handling the angle constraints which is more similar to what occurs in a real biomechanical system.",
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    Computational Models satisfying relative angle constraints for 2-dimensional segmented bodies. / Said, Munzir; Jennings, Leslie; Koh, M.T.

    In: Anziam Journal, Vol. 47, No. 4, 2006, p. 541-554.

    Research output: Contribution to journalArticle

    TY - JOUR

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    AU - Said, Munzir

    AU - Jennings, Leslie

    AU - Koh, M.T.

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    N2 - Planar hinged segmented bodies have been used to represent models of biomechanical systems. One characteristic of a segmented body moving under gravitational acceleration and torques between segments is the possibility that the body's segments spin through more than a revolution or past a natural limit, and a computational mechanism to stop such behaviour should be provided. This could be done by introducing angle constraints between segments, and computational models utilising optimal control are studied here. Three models to maintain angle constraints between segments are proposed and compared. These models are: all-time angle constraints, a restoring torque in the state equations and an exponential penalty model. The models are applied to a 2-D three-segment body to test the behaviour of each model when optimising torques to minimise an objective. The optimisation is run to find torques so that the end effector of the body follows the trajectory of a half-circle. The result shows the behaviour of each model in maintaining the angle constraints. The all-time constraints case exhibits a behaviour of not allowing torques (at a solution) which makes segments move past the constraints, while the other two show a flexibility in handling the angle constraints which is more similar to what occurs in a real biomechanical system.

    AB - Planar hinged segmented bodies have been used to represent models of biomechanical systems. One characteristic of a segmented body moving under gravitational acceleration and torques between segments is the possibility that the body's segments spin through more than a revolution or past a natural limit, and a computational mechanism to stop such behaviour should be provided. This could be done by introducing angle constraints between segments, and computational models utilising optimal control are studied here. Three models to maintain angle constraints between segments are proposed and compared. These models are: all-time angle constraints, a restoring torque in the state equations and an exponential penalty model. The models are applied to a 2-D three-segment body to test the behaviour of each model when optimising torques to minimise an objective. The optimisation is run to find torques so that the end effector of the body follows the trajectory of a half-circle. The result shows the behaviour of each model in maintaining the angle constraints. The all-time constraints case exhibits a behaviour of not allowing torques (at a solution) which makes segments move past the constraints, while the other two show a flexibility in handling the angle constraints which is more similar to what occurs in a real biomechanical system.

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