Underactuated mechanical systems with constant linear constraints

• Autorzy: Lemmer L. , Kiss B.
• Języki publikacji: EN

Abstrakty

EN

This paper presents methods to build the equations of motion of constrained mechanical systems with special emphasis on linear mechanical systems with linear kinematic constraints. On the one hand, an explicit closed form solution is given for the constraint forces, and on the other, a minimal set of equations of motion is derived with the elimination of the constraint forces. Then, the number of maximal possible degree of underactuation and minimal required number of position outputs are analyzed to have a controllable and an observable system, respectively.

Słowa kluczowe

EN

constrained mechanical system; underactuated mechanical system; maximal degree of underactuation; controllability

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2009
• Tom: Vol. 35, no 4
• Strony: 81--91
• Opis fizyczny: Bibliogr. 8 poz.

Twórcy

autor

Lemmer L.

autor

Kiss B.

• Budapest University of Technology and Economics, Department of Control Engineering and Information Technology, Magyar Tudosok krt. 2, H-1117 Budapest, Hungary,

Bibliografia

• [1] Panos J., Michel Antsaklis, Michel Anthony N., Linear Systems, Birkhauser, Boston, 2nd corrected printing edition, 2006.
• [2] Gantmacher F.R., Matrizentheorie, Springer-Verlag, Berlin, 1986.
• [3] Lancaster P., Theory of Matrices, Academic Press, Inc., New York and London, 1969.
• [4] Lemmer L., The decoupling of a harmonic-drive-spring system for position and torque control on two different axes, Proceedings 15th Mediterranean Conference on Control and Automation, Athens, Greece, June 2007.
• [5] Lemmer L., Kiss B., Modeling, identification, and control of harmonic drives for mobile vehicles, Proceedings IEEE International Conference on Mechatronics, Budapest, Hungary, July 2006.
• [6] Meyer C., Matrix Analysis and Applied Linear Algebra, Society for Industrial and Applied Mathematics, 2000.
• [7] Rao C.R., Mitra S.K., Generalized Inverse of Matrices and its Applications, John Wiley & Sons, Inc., 1971.
• [8] Shabana A.A., Dynamics of Multibody Systems, Cambridge University Press, The Pitt Building, Cambridge CB2 2RU, United Kingdom, 2nd ed., 1998.