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Energy-optimal control of semi-passively actuated SCARA-like robot

Mathias Lidberg (Institutionen för maskin- och fordonssystem, Mekaniska system) ; Viktor Berbyuk (Institutionen för maskin- och fordonssystem, Mekaniska system)
Proceedings of the First International Symposium on Mechatronics, (Eds: Peter Maisser and Peter Tenberge), March 21-22, 2002, Chemnitz, Cermany p. 302-311. (2002)
[Konferensbidrag, refereegranskat]

The optimal control of a new structure of manipulator robot is under study. In comparison with the well-known SCARA robot the proposed robotic system has several unpowered (passive) spring-damper-like drives. An additional link has also been incorporated into the structure that gives the possibility to obtain a semi-passively actuated closed-loop chain robot. Energy-optimal motion of the robot is under study for the periodic pick-and-place operations. To design the optimal control of the robot a polynomial-Fourier series approximation of the independent variable functions and a sequential quadratic programming method have been used. We are in particular studying the sensitivity of the kinematic, dynamic and energetic characteristics of the obtained optimal motion of the robot with respect to the parameters of the passive drives and the degree of actuation of the system.

Nyckelord: Modeling, Energy-Optimal Control, Sensitivity Analysis, Manipulator Robot, Closed-Loop Chain, Unpowered Spring-Damper Actuators, Controlled Motion, Dynamics



Denna post skapades 2006-09-25. Senast ändrad 2015-12-17.
CPL Pubid: 5244

 

Institutioner (Chalmers)

Institutionen för maskin- och fordonssystem, Mekaniska system (1900-2004)

Ämnesområden

Teknisk mekanik

Chalmers infrastruktur