Optimization problems of controlled multibody systems having spring-damper actuators

被引：7
|
作者：
Berbyuk, VE
Boström, AE
机构：
[1] Natl Acad Sci Ukraine, Ya S Podstrigach Inst APpl Problems Mech & Math, UA-252143 Kiev, Ukraine
[2] Chalmers, Dept Mech, S-41296 Gothenburg, Sweden
来源：
INTERNATIONAL APPLIED MECHANICS | 2001年 / 37卷 / 07期
基金：
瑞典研究理事会;
关键词：
Characteristic Feature; Mechanical System; Multibody System; Robot Manipulator; Nonlinear Spring;
D O I：
10.1023/A:1012536111041
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
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.
引用
收藏
页码：935 / 940
页数：6
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