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MBSlib - An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis

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
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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
ID-Nummer: RAL_Wojtusch2016
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
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