Evaluation of Nonlinear Dynamics Using Optimal Motion Planning

[+] Author and Article Information
Przemysław Herman

Chair of Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3a, 60-965 Poznań, Polandprzemyslaw.herman@put.poznan.pl

J. Dyn. Sys., Meas., Control 128(4), 995-998 (Feb 03, 2006) (4 pages) doi:10.1115/1.2363203 History: Received February 18, 2005; Revised February 03, 2006

The precise control of a manipulator depends on its velocity as well as on its configuration and dynamic properties. This paper presents some observations that can serve as a useful tool for identifying nonlinear ear effects in a manipulator. The tool is based on equations of motion being expressed in terms of inertial quasi-velocities (IQVs). They are rates containing both kinematic and mechanical parameters of the system. The presented approach gives a further insight into the manipulator motion. An analytical example shows the proposed strategy.

Copyright © 2006 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

Kinematic scheme of the manipulator



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