Composite motion and effort control

A method for simultaneously controlling the motion of bodies and the constraining efforts between bodies of multibody systems is presented. The motions and efforts controlled are gauge invariant compositions of the generalized velocities and forces commonly used in describing dynamic systems. The goal of the method is to only use actuations that contribute toward achieving the obtainable portions of the motion and efforts. The actuations associated with attempting to achieve the unobtainable motions and efforts, those that ultimately result in performance degradation, are reduced. Toward this goal the newly developed motion-effort method for dynamic system equation reduction is used to find the required actuation for use in the feed forward portion of a composite motion-effort controller. Additional portions of the controller are used to adjust the actuation to reduce the effects of past errors