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  • 标题:Model reduction of a flexible-joint robot: a port-Hamiltonian approach
  • 本地全文:下载
  • 作者:H. Jardón-Kojakhmetov ; H. Jardón-Kojakhmetov ; M. Muñoz-Arias
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2016
  • 卷号:49
  • 期号:18
  • 页码:832-837
  • DOI:10.1016/j.ifacol.2016.10.269
  • 语种:English
  • 出版社:Elsevier
  • 摘要:Abstract: In this paper we explore the methodology of model order reduction based on singular perturbations for a flexible-joint robot within the port-Hamiltonian framework. We show that a flexible-joint robot has a port-Hamiltonian representation which is also a singularly perturbed ordinary differential equation. Moreover, the associated reduced slow subsystem corresponds to a port-Hamiltonian model of a rigid-joint robot. To exploit the usefulness of the reduced models, we provide a numerical example where an existing controller for a rigid robot is implemented.
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