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Optimization problems of controlled multibody systems having spring-damper actuators

Viktor Berbyuk (Institutionen för maskin- och fordonssystem, Mekaniska system) ; Anders Boström (Institutionen för tillämpad mekanik)
International Applied Mechanics, Vol. 37 (2001), 7, p. 935-940.
[Artikel, refereegranskad vetenskaplig]

The optimal control of the motion of mechanical systems is studied. A characteristic feature of these systems is the presence of passive actuators (springs, dampers, etc.). Energy-optimal control laws and structural parameters of nonlinear spring–damper actuators are determined analytically, which is necessary to impart arbitrary motion to a controllable mechanical system with n degrees of freedom. As an example, a numerical solution is presented for the problem of designing an energy-optimal spring actuator for a robot manipulator of closed kinematic structure.

Paper was presented at the 20th International Congress of Theoretical and Applied Mechanics (August 27 – September 2, 2000, Chicago, USA). This is a complete report. The congress transactions include only an abstract.

Denna post skapades 2006-09-25. Senast ändrad 2015-12-17.
CPL Pubid: 5262


Institutioner (Chalmers)

Institutionen för maskin- och fordonssystem, Mekaniska system (1900-2004)
Institutionen för tillämpad mekanik (1900-2017)


Teknisk mekanik

Chalmers infrastruktur