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Servo-constraint realization for underactuated mechanical systems
Citation Link: https://doi.org/10.15480/882.3889
Publikationstyp
Journal Article
Date Issued
2015-02-01
Sprache
English
Institut
TORE-DOI
Journal
Volume
85
Issue
9/10
Start Page
1191
End Page
1207
Citation
Archive of Applied Mechanics 85 (9/10): 1191-1207 (2015-09-13)
Publisher DOI
Scopus ID
Publisher
Springer
Peer Reviewed
true
The paper deals with underactuated mechanical systems, featured by less control inputs m than degrees of freedom f, m < f, subject to m servo-constraints (specified in time outputs) on the system. The arising servo-constraint problem (inverse dynamics analysis) is discussed with an emphasis on the way the servo-constraints are realized, varying from orthogonal to tangential, and a geometrical illustration of the different realization types is provided. Depending on the way the servo-constraints are realized, the governing equations are formulated either as ordinary differential equations (ODEs) or differential-algebraic equations (DAEs), and some computational issues for the ODEs and DAEs are discussed. The existence or non-existence of an explicit solution to the governing equations is further discussed, related to so-called differentially flat problems (without internal dynamics) and non-flat problems (with internal dynamics). It is shown that in case of non-flat problems with orthogonal realization of servo-constraints, stability of the internal dynamics must be assured. Simple case studies are reported to illustrate the proposed formulations and methodologies.
Subjects
Inverse dynamics
Servo-constraints
Underactuated systems
DDC Class
600: Technik
Publication version
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