By Francisco Geu Flores, Andrés Kecskeméthy (auth.), Hubert Gattringer, Johannes Gerstmayr (eds.)
The quantity comprises 19 contributions by way of overseas specialists within the box of multibody procedure dynamics, robotics and keep watch over. The publication goals to bridge the distance among the modeling of mechanical structures by way of multibody dynamics formulations and robotics. within the classical technique, a multibody dynamics version features a very excessive point of element, notwithstanding, the applying of such versions to robotics or regulate is generally restricted. The papers objective to attach the various clinical groups in multibody dynamics, robotics and keep an eye on. major themes are versatile multibody structures, humanoid robots, elastic robots, nonlinear keep an eye on, optimum course making plans, and identification.
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Additional info for Multibody System Dynamics, Robotics and Control
39 The linearised models of the mechanical system are well-suited for control system synthesis. The following steps are taken. At first the cross-over frequency of the feedback controller is determined from performance requirements. e. the six lowest natural frequencies. 1 is well-suited. 1% of the amplitude. This can be accomplished with a cross-over frequency of about 300 rad/s. Secondly, the closed-loop performance can be improved with feedforward control. A feedforward control input can be computed by applying a stable inverse approximation of a low frequent model of the mechanical system to the desired motion profile.
Note that for this kinematic analysis the masses and stiffnesses do not play a role. These are of course relevant in the dynamic analysis to be discussed next. 3 Dynamic Model and Natural Frequencies with Mode Shapes Natural frequencies and mode shapes are obtained from dynamic models. The simplest dynamic model is derived from the kinematic model outlined above in which mass and stiffness properties are added. In the applied modelling approach the non-linear equations of motion can be linearised in any valid configuration of the system.
8 Fig. 6 Normalized axis velocities Corresponding axis speeds, torques and jerks are shown in Figs. 8. Comparing the results reveals that always one of the limits is active (Sect. 3). Now, two state of the art offline methods are applied to the same problem to proof the performance of the presented algorithm. For the first method a B-Spline approximation of the function sðtÞ is used similar to Ref. . 5). The second method, a modified implementation of the multiple shooting method as described in Ref.