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

页码：935 / 940

页数：6

共 28 条

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