The present paper illustrates the potential of the adjoint method for a wide range of optimization problems in multibody dynamics such as inverse dynamics and parameter identification. Although the equations and matrices included show a complicated structure, the additional effort when combining the standard forward solver to the adjoint backward solver is kept in limits. Therefore, the adjoint method shows an efficient way to incorporate inverse dynamics to engineering multibody applications, e.g., trajectory tracking or parameter identification in the field of robotics. The present paper studies examples for both, parameter identification and optimal control, and shows the potential of the adjoint method in solving classical optimization problems in multibody dynamics.
The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received May 22, 2014; final manuscript received August 19, 2014; published online April 9, 2015. Assoc. Editor: Dan Negrut.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Nachbagauer, K., Oberpeilsteiner, S., Sherif, K., and Steiner, W. (November 1, 2015). "The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics." ASME. J. Comput. Nonlinear Dynam. November 2015; 10(6): 061011. https://doi.org/10.1115/1.4028417
Download citation file:
- Ris (Zotero)
- Reference Manager