Powersaving Control of Mechanisms
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 wordsenergy consumption inverse dynamics control mechanism shooting method curve fit
Unable to display preview. Download preview PDF.
- Ackermann, M., Guse, N. and Lakrad, F., Improving Efficiency of Controlled Rheonomic Systems by Curve Fitting, Zwischenbericht ZB-136. Universität Stuttgart, Institut B für Mechanik, 2003.Google Scholar
- Babitsky, V.I. and Shipilov, A.V., Resonant Robotic Systems, Springer-Verlag, Berlin, 2003.Google Scholar
- Guse, N. and Schiehlen, W., Low Energy Control of Periodic Motions in Manufacturing. In Proc. XXI ICTAM 2004, Warsaw, Poland, August 15–21, 2004.Google Scholar
- Schiehlen, W. and Guse, N., Control of Limit Cycle Oscillations. In Proceedings of IUTAM Symposium on Chaotic Dynamics and Control of Systems and Processes in Mechanics, G. Rega and F. Vestroni (eds), Rome, Italy, 8–13 June 2003, Springer, Dordrecht, 2005, pp. 429–440.Google Scholar
- Schiehlen, W. and Guse, N., Power Demand of Actively Controlled Multibody Systems. In ASME Proceedings of DETC 2001/ VIB-21343, Pittsburgh, PA, USA, September 9–12, 2001.Google Scholar
- Waldron, K.J., Some Thoughts on the Design of Power Systems for Legged Vehicles. In Advances in Multibody Systems and Mechatronics, Gerhard-Mercator-Universität, Duisburg, 1999, pp. 389–394.Google Scholar