- Tytuł:
- A case study of inverse dynamics control of manipulators with passive joints
- Autorzy:
-
Blajer, W.
Kołodziejczyk, K. - Powiązania:
- https://bibliotekanauki.pl/articles/279450.pdf
- Data publikacji:
- 2014
- Wydawca:
- Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
- Tematy:
-
inverse dynamics
underactuated manipulators
passive joints
servo-constraints - Opis:
- Manipulators with both active and passive joints are examples of underactuated systems, featured by less control inputs than degrees of freedom. Due to the underactuation, in the trajectory tracking (servo-constraint) problem, the feed-forward control obtained from an inverse model is influenced by internal dynamics of the system, leading to a more involved control design than in the fully actuated case. It is demonstrated that a convenient approach to the problem solution is to formulate the underactuated system dynamics in the input-output normal form, with the arising governing equations formulated either as ODEs (ordinary differential equations) or DAEs (differential-algebraic equations). The interrelationship between the inverse dynamics control and the associated internal dynamics is then studied and illustrated using a planar manipulator with two active and one passive joint. Some simulation results for the sample case study are reported.
- Źródło:
-
Journal of Theoretical and Applied Mechanics; 2014, 52, 3; 793-801
1429-2955 - Pojawia się w:
- Journal of Theoretical and Applied Mechanics
- Dostawca treści:
- Biblioteka Nauki
Artykuł