E. Shojaei Barjuei, P. Boscariol, A. Gasparetto, M. Giovagnoni, R. Vidoni
Control design for 3D flexible link mechanisms using linearized models
Adcances on Theory and Practice of Robots and Manipulators - ROMANSY-2014 XX CISM-IFToMM Symposium. Moscow 23-26 June 2014

Abstract: This paper presents an approach to the optimal control of a spatial flexible mechanism. A highly accurate dynamic model of the system is briefly resumed. Then, in order to be able to employ the classical optimal control theory, a linearization of the model with consideration of gravity force is done. After that the chosen optimal control is described, and the most important results of the simulation are presented and discussed.

Area: Controllo di Sistemi Meccanici
Attivitą: Modellazione e controllo di meccanismi a membri deformabili ad attuazione singola

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