Analysis of Dynamic Systems Using Heuristic Optimization

Abstract

In certain dynamic problems, the determination of the applied torques at the joints from the measured displacement-time history is of interest, and is known as the inverse dynamic problem. A general purpose algorithm, “Heuristic Combinatorial Optimization Technique”, [1] has been shown to produce fast and improved solutions in the kinematic and the dynamic design of mechanical systems compared to conventional techniques. In the present study, a new approach to the inverse dynamic problem is introduced. An effective algorithm is developed by combining the Heuristic Optimization Technique with the Automated Assembly Program [2]. Two problems are investigated. The first deals with a man-machine interaction system; the second deals with the spatial motion of a manipulator. The investigation demonstrates the potential application of the procedure in the analysis of dynamic systems of realistic complexity.