A penalty method for constrained Multibody kinematics optimisation using a Levenberg-Marquardt algorithm

An alternative method for solving constrained Multibody kinematics optimisation using a penalty method on constraints and a Levenberg-Marquardt algorithm is proposed. It is compared to an optimisation resolution with hard kinematic constraints. These methods are applied to two pairs of experiments a...

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Bibliographic Details
Published inComputer methods in biomechanics and biomedical engineering pp. 1 - 27
Main Authors Livet, Claire, Rouvier, Théo, Sauret, Christophe, Pillet, Hélène, Dumont, Georges, Pontonnier, Charles
Format Journal Article
LanguageEnglish
Published Taylor & Francis 2022
Subjects
Biomechanics
Mechanics
Physics
Biomechanics
Multibody kinematics optimisation
closed loop
constraints
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Summary:An alternative method for solving constrained Multibody kinematics optimisation using a penalty method on constraints and a Levenberg-Marquardt algorithm is proposed. It is compared to an optimisation resolution with hard kinematic constraints. These methods are applied to two pairs of experiments and models. The penalty method was at least 20 times faster than the optimisation resolution while keeping similar reconstruction errors and constraints violation. The potential of the method is shown to accurately solve the Multibody kinematics optimisation problem in a reasonable amount of time. A computational gain lies in implementing this resolution with a compiled and optimised program code.
ISSN:1025-5842
1476-8259