Simulation approach to the inverse dynamics of underactuated systems

欠驱动系统逆动力学的仿真方法

• 批准号: 289782590
• 负责人: Professor Dr.-Ing. Peter Betsch
• 金额: --
• 依托单位: Institut für Mechanik (IFM)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/289782590?language=en
• 关键词: Simulation; approach; inverse; dynamics; underactuated

A new simulation approach to the inverse dynamics of underactuated mechanical systems is proposed. Typical sample applications are cranes and robot manipulators. The simulation approach is based on the numerical solution of servo problems. In the case of cranes servo constraints are used to prescribe the trajectory of the load. The solution of the servo problem determines the actuating forces that are required to realize the prescribed motion of the load. In addition to the servo constraints the servo problem comprises the equations of motion pertaining to the mechanical system at hand. Consequently, the governing equations assume the form of differential-algebraic equations (DAEs). The DAEs typically have high index and are thus notoriously difficult to solve. A new index reduction method is proposed to facilitate the stable numerical solution of the servo problem. Moreover, a new continuous Galerkin method in space and time is developed which will be especially beneficial for the inverse dynamics of robots with flexible components.

提出了一种新的欠驱动机械系统逆动力学仿真方法。典型的示例应用是起重机和机器人操作器。仿真方法是基于伺服问题的数值解。在起重机的情况下，伺服约束被用来规定负载的轨迹。伺服问题的求解决定了实现负载规定运动所需的作动力。除了伺服约束外，伺服问题还包括与当前机械系统有关的运动方程。因此，控制方程采用微分代数方程（DAEs）的形式。DAEs通常具有高指数，因此众所周知难以解决。为了稳定求解伺服问题，提出了一种新的指标约简方法。此外，还提出了一种新的空间和时间上的连续伽辽金方法，该方法对具有柔性部件的机器人的逆动力学特别有利。