Mobility of machine-process systems

  • Friedrich PfeifferEmail author
Original paper


A machine-process combination may be seen as two dynamic systems cooperating for the realization of some process. A well-known example is the projection of arbitrary many robot degrees of freedom on a given path resulting in a set of nonlinear equations with one degree of freedom only, for example the path coordinate s. The set with the complete number of robot degrees of freedom is used to construct a mobility space \((\ddot{s}, \dot{s}, s)\) for any combination of coordinates and constraints. The paper presents a corresponding approach for more general machine and process configurations applying multibody system theory put in Lagrange I that form together with transformations from the machine side to the process side and vice versa. Practical aspects are discussed and examples given.


Multibody systems Nonlinear system dynamics Projection methods Motion spaces Nonlinear dynamics 


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© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Lehrstuhl fuer Angewandte MechanikTU-MuenchenGarchingGermany

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