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Modeling an design of robotic systems having spring-damper actuators

Viktor Berbyuk (Institutionen för mekanik och hållfasthetslära, Mekanik) ; Anders Boström (Institutionen för mekanik och hållfasthetslära, Mekanik) ; Bo Peterson (Institutionen för mekanik och hållfasthetslära, Mekanik)
Göteborg : Chalmers University of Technology, 2000. - 8 s.
[Rapport]

The role of inherent dynamics for the improvement of control strategies of robotic systems is studied. A mathematical formulation of the optimal control problem that is suitable for this investigation is proposed. In solving this problem closed-form expressions have been obtained for the optimal control strategies for n degrees-of-freedom robotic systems with passive (unpowered) drives and no restrictions upon their controlling stimuli, and with non-linear viscoelastic spring-damper actuators. The obtained results can be used in designing optimal spring-damper-like passive drives for robotic systems.



Denna post skapades 2006-09-19. Senast ändrad 2015-12-17.
CPL Pubid: 11179

 

Institutioner (Chalmers)

Institutionen för mekanik och hållfasthetslära, Mekanik (1972-2003)

Ämnesområden

Övrig teknisk mekanik

Chalmers infrastruktur

Ingår i serie

Communications from the Division of Mechanics, Chalmers University of Technology, Gothenburg, Sweden CTH 2000:1