Biomedical Engineering Reference
In-Depth Information
8
Torque square
Min-max
Forward dynamics
6
4
2
0
-2
-4
-6
-8
-10
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
Time (s)
FIGURE 5.15
Joint velocity prediction of the single pendulum, Case 2.
1.6
1.4
1.2
Torque square
Min-max
Forward dynamics
1.0
0.8
0.6
0.4
0.2
0.0
-0.2
-0.4
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
Time (s)
FIGURE 5.16
Joint torque prediction of the single pendulum, Case 2.
cannot predict the true response due to lack of necessary information (con-
straints) on the dynamic system between the boundaries. This is because both
force and motion are unknowns in the optimization formulation. Although the
boundary conditions are satisfied, it may predict different motion between the
boundaries.
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