Powersaving Control of Mechanisms

  • Werner Schiehlen
  • Nils Guse
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)


Inverse dynamics control of mechanisms with prescribed motions results in high energy demand which will be reduced by adding springs for local energy storage. Two methods are proposed, adjusting the trajectories of mechanisms to a periodic conservative trajectory as well as finding optimal spring parameters by curve fitting. A control logic is introduced to further reduce the energy cost of transition processes.

Key words

energy consumption inverse dynamics control mechanism shooting method curve fit 


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Copyright information

© Springer 2005

Authors and Affiliations

  • Werner Schiehlen
    • 1
  • Nils Guse
    • 1
  1. 1.Institute B of MechanicsUniversity of StuttgartGermany

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