Actuation for simultaneous motions and constraining efforts: an open chain example

N. Duke Perreira

doi:10.1117/12.276536

13 June 1997 Actuation for simultaneous motions and constraining efforts: an open chain example

N. Duke Perreira

Proceedings Volume 3039, Smart Structures and Materials 1997: Mathematics and Control in Smart Structures; (1997) https://doi.org/10.1117/12.276536
Event: Smart Structures and Materials '97, 1997, San Diego, CA, United States

Abstract

A brief discussion on systems where simultaneous control of forces and velocities are desirable is given and an example linkage with revolute and prismatic joint is selected for further analysis. The Newton-Euler approach for dynamic system analysis is applied to the example to provide a basis of comparison. Gauge invariant transformations are used to convert the dynamic equations into invariant form suitable for use in a new dynamic system analysis method known as the motion-effort approach. This approach uses constraint elimination techniques based on singular value decompositions to recast the invariant form of dynamic system equations into orthogonal sets of motion and effort equations. Desired motions and constraining efforts are partitioned into ideally obtainable and unobtainable portions which are then used to determine the required actuation. The method is applied to the example system and an analytic estimate to its success is made.

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N. Duke Perreira "Actuation for simultaneous motions and constraining efforts: an open chain example", Proc. SPIE 3039, Smart Structures and Materials 1997: Mathematics and Control in Smart Structures, (13 June 1997); https://doi.org/10.1117/12.276536

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