Equivalent Control of Constrained Multibody Systems

This paper investigates the title problem from the perspective ofdetermining which forcesystems, although different, will have the same dynamic effectwhen applied to a mechanical system.A procedure is presented for determining how differences incontrol force/moment input are nullifiedby constraints on the system. This in turn provides a basis foroptimal control. The theoreticaldevelopment is illustrated by a series of examples with a model ofa redundant manipulator – a constrained/controlled triple pendulum.