Optimization problems of controlled multibody systems having spring-damper actuators
Artikel i vetenskaplig tidskrift, 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.


Viktor Berbyuk

Chalmers, Institutionen för maskin- och fordonssystem, Mekaniska system

Anders E Boström

Chalmers, Tillämpad mekanik

International Applied Mechanics,

Vol. 37 7 935-940





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