TUHH Open Research
Help
  • Log In
    New user? Click here to register.Have you forgotten your password?
  • English
  • Deutsch
  • Communities & Collections
  • Publications
  • Research Data
  • People
  • Institutions
  • Projects
  • Statistics
  1. Home
  2. TUHH
  3. Publications
  4. Servo-constraint realization for underactuated mechanical systems
 
Options

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
Author(s)
Blajer, Wojciech  
Seifried, Robert  orcid-logo
Kołodziejczyk, Krzysztof  
Institut
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.3889
TORE-URI
http://hdl.handle.net/11420/10882
Journal
Archive of applied mechanics  
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
10.1007/s00419-014-0959-2
Scopus ID
2-s2.0-84941314577
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
publishedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
Loading...
Thumbnail Image
Name

Blajer2015_Article_Servo-constraintRealizationFor.pdf

Size

1.03 MB

Format

Adobe PDF

TUHH
Weiterführende Links
  • Contact
  • Send Feedback
  • Cookie settings
  • Privacy policy
  • Impress
DSpace Software

Built with DSpace-CRIS software - Extension maintained and optimized by 4Science
Design by effective webwork GmbH

  • Deutsche NationalbibliothekDeutsche Nationalbibliothek
  • ORCiD Member OrganizationORCiD Member Organization
  • DataCiteDataCite
  • Re3DataRe3Data
  • OpenDOAROpenDOAR
  • OpenAireOpenAire
  • BASE Bielefeld Academic Search EngineBASE Bielefeld Academic Search Engine
Feedback