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Optimal Control Concepts for Robots with Varying Stiffness Joints

Özparpucu, Mehmet Can (2012) Optimal Control Concepts for Robots with Varying Stiffness Joints. Master's. DLR-Interner Bericht. DLR-IB 572-2012/35, 117 S.

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Abstract

This work will focus on the performance limits of robots consisting elastic elements in their joints. In order to derive these limits, Optimal Control (OC) Theory is applied as the tool for solving this problem. This theory yields optimality conditions for the controls, which minimize a cost functional that describes the goal. Since OC Theory is mainly a mathematical tool, physical interpretation of the results is often not easy to make, especially if the problem is solved numerically. For that reason, most of the work will discuss a robot arm with one joint, for which analytical solutions could be obtained. This simple nonlinear model, where the nonlinearity occurs because of the varying joint stiffness, will reveal many interesting properties of this class of systems. These properties will then be investigated for robots with multiple joints.

Item URL in elib:https://elib.dlr.de/80735/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Optimal Control Concepts for Robots with Varying Stiffness Joints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Özparpucu, Mehmet CanUNSPECIFIEDUNSPECIFIED
Date:15 December 2012
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:117
Status:Published
Keywords:Optimal, Control, Concepts, Robots, Varying, Stiffness, Joints
Institution:TU Darmstadt
Department:Mechatronic Systems in Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Laskey, Jessica
Deposited On:22 Jan 2013 15:49
Last Modified:13 Jul 2016 17:28

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