Port-based modelling of manipulators with flexible links

Macchelli, Alessandro and Stramigioli, Stefano and Melchiorri, Claudio (2006) Port-based modelling of manipulators with flexible links. In: IEEE International Conference on Robotics and Automation, ICRA, 15-19 May 2006, Orlando, FL, USA.

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Abstract:	In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). Since rigid bodies and flexible links are described within the port Hamiltonian formalism, their interconnection is possible once a proper relation between the power conjugated port variables is deduced. These relations are $\nthe$ analogous of the Kirchoff laws of circuit theory. The final model is a mixed port Hamiltonian system because of the presence of a finite dimensional subsystem modelling the rigid bodies and of an infinite dimensional one describing the flexible links. The intrinsic modularity of the approach simplifies the model deduction and simulation, while the Hamiltonian description suggests the development of energy-based controllers.
Item Type:	Conference or Workshop Item
Copyright:	© 2006 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/62283
Official URL:	http://dx.doi.org/10.1109/ROBOT.2006.1641981
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