Özparpucu, Mehmet Can (2012) Optimal Control Concepts for Robots with Varying Stiffness Joints. DLR-Interner Bericht. DLR-IB 572-2012/35. Master's. TU Darmstadt. 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/ | ||||||
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Document Type: | Monograph (DLR-Interner Bericht, Master's) | ||||||
Title: | Optimal Control Concepts for Robots with Varying Stiffness Joints | ||||||
Authors: |
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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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