Wojtusch, Janis ; Kunz, Jürgen ; Stryk, Oskar von (2016)
MBSlib - An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis.
In: Robotics and Automation Letters, IEEE, 1 (2)
doi: 10.1109/LRA.2016.2527830
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
The dynamic behavior of many technical and biomechanical systems can be modeled, simulated and optimized by using a multibody systems approach. Systems with many degrees of freedom typically result in complex and high-dimensional multibody systems models that necessitate capable modeling approaches and efficient computational algorithms as well as impede the numerical solution of related optimization problems. In this paper, the efficient and modular multibody systems library MBSLIB for kinematics and dynamics simulation, optimization and sensitivity analysis is presented. MBSLIB provides an intuitive modeling interface, modular software architecture, efficient computational algorithms as well as the computation of derivatives with respect to system states, control variables or model parameters. In combination with gradient-based optimization methods, the derivatives can be used to facilitate the numerical solution of optimization problems significantly. The library is open and can be obtained from the MBSLIB website. These features make MBSLIB a powerful, flexible and lightweight modeling, simulation and optimization library suitable for many technical and biomechanical applications.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2016 |
| Autor(en): | Wojtusch, Janis ; Kunz, Jürgen ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | MBSlib - An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis |
| Sprache: | Deutsch |
| Publikationsjahr: | 2016 |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Robotics and Automation Letters, IEEE |
| Jahrgang/Volume einer Zeitschrift: | 1 |
| (Heft-)Nummer: | 2 |
| DOI: | 10.1109/LRA.2016.2527830 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | The dynamic behavior of many technical and biomechanical systems can be modeled, simulated and optimized by using a multibody systems approach. Systems with many degrees of freedom typically result in complex and high-dimensional multibody systems models that necessitate capable modeling approaches and efficient computational algorithms as well as impede the numerical solution of related optimization problems. In this paper, the efficient and modular multibody systems library MBSLIB for kinematics and dynamics simulation, optimization and sensitivity analysis is presented. MBSLIB provides an intuitive modeling interface, modular software architecture, efficient computational algorithms as well as the computation of derivatives with respect to system states, control variables or model parameters. In combination with gradient-based optimization methods, the derivatives can be used to facilitate the numerical solution of optimization problems significantly. The library is open and can be obtained from the MBSLIB website. These features make MBSLIB a powerful, flexible and lightweight modeling, simulation and optimization library suitable for many technical and biomechanical applications. |
| Freie Schlagworte: | Biological system modeling;Computational modeling;Heuristic algorithms;Libraries;Mathematical model;Numerical models;Optimization;Calibration and Identification;Direct/Inverse Dynamics Formulation;Multibody Systems;Optimization and Optimal Control;Sensiti |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 19 Mär 2019 14:16 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum