Application of different Control Strategies to the Forward Dynamic Simulation of Human Gait
Tutor/a - Director/a
Estudiant
Pätkau, Olga
Tipus de document
Treball Final de Grau
Data
2014
rights
Accés obert
Editorial
Universitat Politècnica de Catalunya
Titulacions
UPCommons
Resum
In this thesis, two different control strategies are applied to the forward dynamic simulation
of multibody systems in order to track a given reference motion. For this purpose,
two different computational models are presented: a four-bar linkage model with one
degree of freedom; and a two-dimensional human body model that consists of 12 segments
with 14 degrees of freedom. The forward dynamic analysis of the two models
is implemented using the matrix-R formulation and carried out by means of a variablestep
integration solver. Furthermore, an analysis and comparison of different numerical
integration methods are carried out. The joint forces and torques, which are applied to
the multibody systems in order to drive their motion, are provided through an inverse
dynamic analysis. In order to stabilize the simulation and to enable the tracking of a
reference motion, two control methods are introduced: a proportional derivative control
and a computed torque control using feedback linearization. The design of both
control approaches is developed and applied to the forward dynamic simulation of both
models. The system performance is evaluated by comparing the results with the reference
motion. The reference human motion of a healthy subject was captured previously
in a biomechanics laboratory. Moreover, the robustness of the computed torque control
approach is analysed. In addition, environmental and social impacts of this thesis are
outlined and an economical consideration is included.
