- Tytuł:
- Motion tracking of a rigid-flexible link robotic system in an underactuated control mode
- Autorzy:
-
Jarzębowska, Elżbieta
Augustynek, Krzysztof
Urbaś, Andrzej - Powiązania:
- https://bibliotekanauki.pl/articles/27311387.pdf
- Data publikacji:
- 2023
- Wydawca:
- Polska Akademia Nauk. Czasopisma i Monografie PAN
- Tematy:
-
manipulator
actuator failure
optimization
computational procedure for constrained dynamics
method CoPCoD
awaria siłownika
optymalizacja
metoda CoPCoD
procedura obliczeniowa dla dynamiki z ograniczeniami - Opis:
- The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e144620
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł