Control of Flexible Robot by Harmonic Functions

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F22%3A00357871" target="_blank" >RIV/68407700:21220/22:00357871 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.3390/app12073604" target="_blank" >https://doi.org/10.3390/app12073604</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app12073604" target="_blank" >10.3390/app12073604</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Control of Flexible Robot by Harmonic Functions

Popis výsledku v původním jazyce

This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into two parts. The arbitrary part of the control input is designed to control the directly actuated part of the dynamic system. The invariant part of the control is selected to steer the system zero dynamics in the desired way. The harmonic functions create the base for the invariant part of the control function. The residual vibration cancellation is the target of the presented invariant control strategy. The harmonic function frequencies are overtaken from the so-called natural motion, amplitudes are the results of the optimization process. The main target of this paper is to show the invariant control approach and its application to the system with flexible elements.

Název v anglickém jazyce

Control of Flexible Robot by Harmonic Functions

Popis výsledku anglicky

This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into two parts. The arbitrary part of the control input is designed to control the directly actuated part of the dynamic system. The invariant part of the control is selected to steer the system zero dynamics in the desired way. The harmonic functions create the base for the invariant part of the control function. The residual vibration cancellation is the target of the presented invariant control strategy. The harmonic function frequencies are overtaken from the so-called natural motion, amplitudes are the results of the optimization process. The main target of this paper is to show the invariant control approach and its application to the system with flexible elements.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

2076-3417

Svazek periodika

12

Číslo periodika v rámci svazku

7

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

14

Strana od-do

—

Kód UT WoS článku

000781476100001

EID výsledku v databázi Scopus

2-s2.0-85128180529