Optimization problems of controlled multibody systems having spring-damper actuators
Journal article, 2001

The optimal control of the motion of mechanical systems is studied. A characteristic feature of these systems is the presence of passive actuators (springs, dampers, etc.). Energy-optimal control laws and structural parameters of nonlinear spring–damper actuators are determined analytically, which is necessary to impart arbitrary motion to a controllable mechanical system with n degrees of freedom. As an example, a numerical solution is presented for the problem of designing an energy-optimal spring actuator for a robot manipulator of closed kinematic structure.

Author

Viktor Berbyuk

Chalmers, Department of Machine and Vehicle Systems, Mechanical Systems

Anders E Boström

Chalmers, Applied Mechanics

International Applied Mechanics,

Vol. 37 7 935-940

Subject Categories

Mechanical Engineering

DOI

10.1023/A:1012536111041

More information

Latest update

4/21/2021