Modeling an design of robotic systems having spring-damper actuators
Rapport, 2000

The role of inherent dynamics for the improvement of control strategies of robotic systems is studied. A mathematical formulation of the optimal control problem that is suitable for this investigation is proposed. In solving this problem closed-form expressions have been obtained for the optimal control strategies for n degrees-of-freedom robotic systems with passive (unpowered) drives and no restrictions upon their controlling stimuli, and with non-linear viscoelastic spring-damper actuators. The obtained results can be used in designing optimal spring-damper-like passive drives for robotic systems.

Författare

Viktor Berbyuk

Institutionen för mekanik och hållfasthetslära, Mekanik

Anders E Boström

Institutionen för mekanik och hållfasthetslära, Mekanik

Bo Å Peterson

Institutionen för mekanik och hållfasthetslära, Mekanik

1403-7289 (ISSN)

Ämneskategorier

Annan materialteknik

Communications from the Division of Mechanics, Chalmers University of Technology, Gothenburg, Sweden: CTH 2000:1