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Modeling and design of robotic systems having spring-damper actuators

Viktor Berbyuk (Institutionen för tillämpad mekanik, Dynamik) ; Anders Boström (Institutionen för tillämpad mekanik, Dynamik) ; Bo Peterson (Institutionen för tillämpad mekanik, Dynamik)
Proceedings of the 7th Mechatronics Forum International Conference, 6-8 September 2000, Atlanta, Georgia, USA, PERGAMON, 2000. (2000)
[Konferensbidrag, refereegranskat]

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 2005-12-03. Senast ändrad 2015-12-17.
CPL Pubid: 5698

 

Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Dynamik (1900-2017)

Ämnesområden

Teknisk mekanik

Chalmers infrastruktur