Sachtler, Arne und Albu-Schäffer, Alin (2022) Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3142921. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9681384
Kurzfassung
Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical systems. However, a strict normal mode will generally be an isolated curve within the configuration space of the system. In this paper, we design a potential that will densely fill the configuration space with strict normal modes such that each configuration belongs to one mode and each mode passes through a common point, the equilibrium. As the potential can be realized by (nonlinear) elastic elements it can be used to execute a variety of periodic trajectories very efficiently. Most of the required torques will come from the elastic elements in the system and not from the actuators. We also design a controller stabilizing the system to a desired target mode and a controller performing swing-up and compensating dissipated energy. Finally, we showcase the approach for a two DoF manipulator. The experiments show that the approach performed well for the example system.
elib-URL des Eintrags: | https://elib.dlr.de/148160/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow | ||||||||||||
Autoren: |
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Datum: | 13 Januar 2022 | ||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/LRA.2022.3142921 | ||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
Name der Reihe: | IEEE Robotics and Automation Letters | ||||||||||||
ISSN: | 2377-3766 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Compliant Joints and Mechanisms; Mechanism Design; Dynamics | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO], R - Mechatronik [RO], R - Laufroboter/Lokomotion [RO] | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Sachtler, Arne | ||||||||||||
Hinterlegt am: | 14 Jan 2022 09:07 | ||||||||||||
Letzte Änderung: | 11 Sep 2023 13:24 |
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