An Orthogonal Collocation Method for Static and Dynamic Cosserat Rods - Archive ouverte HAL
Conference Papers Year : 2023

An Orthogonal Collocation Method for Static and Dynamic Cosserat Rods

Abstract

We propose an orthogonal collocation method (CM) for solving Cosserat rod Dirichlet-Neumann boundary value problems in static and dynamic modes. We interpolate the internal loading and collocate the strong form of the differential equations. The method uses Chebyshev polynomials in order to minimize Runge’s phenomenon. The time derivatives are implicitly discretized using the backward differentiation formula BDF-α. We compare our method with the shooting method (SM), multiple shooting method (MSM) and two isogeometric CM against three static and one dynamic applications. The results show that our CM is more stable than SM and faster than MSM.
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Dates and versions

hal-04246775 , version 1 (17-10-2023)

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Radhouane Jilani, Pierre-Frédéric Villard, Erwan Kerrien. An Orthogonal Collocation Method for Static and Dynamic Cosserat Rods. International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2023, Detroit, United States. ⟨10.1109/IROS55552.2023.10341631⟩. ⟨hal-04246775⟩
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