Near-elimination of small oscillations of articulated flexible-robot systems
Near-elimination of small oscillations of articulated flexible-robot systems
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DOI：
10.1016/j.jsv.2021.116015
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发表时间：
2021-02
影响因子：
4.7
通讯作者：
A. Shabana;Ahmed E. Eldeeb;Z. Bai
中科院分区：
文献类型：
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作者：
A. Shabana;Ahmed E. Eldeeb;Z. Bai
本文提出了一种新的混合驱动系统，用于消除关节型柔性机器人系统（AFRS）的微小振动。混合驱动控制力是通过解决一个完全约束的逆动力学（FCID）问题的相对刚性的机器人经历小的变形，导致其性能和精度的恶化。FCID程序基于浮动参考系（FFR）公式，该公式允许系统地确定与变形模式相关的致动力。通过使用所得到的FCID代数方程，可以避免对运动方程进行数值积分以确定AFRS致动力。本文总结了新的运动/形状控制策略将被使用，并定义了在更详细的未来调查中要解决的问题。
This paper proposes a new hybrid actuation system for near-elimination of the small oscillations ofarticulated flexible-robot systems(AFRS). The hybrid actuation control forces are obtained by solving a fully-constrained inverse-dynamics (FCID) problem of relatively stiff robots experiencing small deformations, which lead to deterioration of their performance and precision. The FCID procedure is based on thefloating frame of reference(FFR) formulation that allows for systematically determining the actuation forces associated with deformation modes. By using the resulting FCID algebraic equations, numerical integration of the equations of motion to determine the AFRS actuation forces can be avoided. This paper summarizes the newmotion/shape controlstrategy to be used and defines problems to be addressed in more detailed future investigations.