Enhancement of the Adjoint Method by Error Control of Accelerations for Parameter Identification in Multibody Dynamics

Abstract

The potential of the adjoint method for a variety of optimization problems in multibody dynamics such as inverse dynamics and parameter identification is the focus of the present paper. Despite the complicated structure of the equations and matrices for the adjoint system, the additional effort when combining the standard forward solver to the adjoint backward solver, is kept in limits. Hence, 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 presented method is applicable for examples for both, parameter identification and optimal control, and shows a high potential for broad applicability for a wide range of optimization problems in multibody dynamics. Especially, in case of parameter identifications in engineering multibody applications, a theoretical enhancement of the proposed adjoint method by an error control of accelerations is inevitable in order to meet the circumstances of experimental studies using acceleration sensors in general.