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Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow

Sachtler, Arne and 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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Official URL: https://ieeexplore.ieee.org/document/9681384

Abstract

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.

Item URL in elib:https://elib.dlr.de/148160/
Document Type:Article
Title:Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Sachtler, ArneArne.Sachtler (at) dlr.dehttps://orcid.org/0000-0003-4974-4134
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:13 January 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/LRA.2022.3142921
Editors:
EditorsEmailEditor's ORCID iD
Asfour, TamimInstitute for Anthropomatics and RoboticsUNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Robotics and Automation Letters
ISSN:2377-3766
Status:Published
Keywords:Compliant Joints and Mechanisms; Mechanism Design; Dynamics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO], R - Mechatronics [RO], R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sachtler, Arne
Deposited On:14 Jan 2022 09:07
Last Modified:14 Jan 2022 09:07

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