EFFICIENT INVERSE DYNAMICS CONTROL OF MULTIBODY SYSTEMS

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概要

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• Due to the high nonlinearity of large displacement motions inverse dynamics is a standard control concept well established in robotics and walking machines. It is shown that inverse dynamics results in high energy consumption and requires large power supply. For autonomous robots and walking machines the power supply adds to the weight, and additional weight needs more power again. It is proposed to use local energy storage by springs to overcome the drawback of inverse dynamics. The design principles for reduced energy consumption are outlined with simple mechanical models and will include nonlinear characteristics of the springs to improve further the local energy storage capacity. An application to a robot arm modeled as multibody system is shown.

• 一般社団法人日本機械学会の論文

著者

• Guse Nils

  Institute B Of Mechanics University Of Stuttgart

• Schiehlen Werner

  Institute B of Mechanics, University of Stuttgart

• Schiehlen Werner

  Institute B Of Mechanics University Of Stuttgart

関連論文

• MULTISCALE DYNAMICS FOR IMPACT PROCESSES IN MULTIBODY SYSTEMS
• Minimum Control Energy in Multibody Systems Using Gravity and Springs
• マルチボディシステムの汎用的な最適軌道計画アルゴリズム(第2報, 閉ループ系の場合)
• マルチボディシステムの汎用的な最適軌道計画アルゴリズム(第1報, 開ループ系の場合)
• EFFICIENT INVERSE DYNAMICS CONTROL OF MULTIBODY SYSTEMS

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