Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
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.
Babitsky, V.I. and Shipilov, A.V., Resonant Robotic Systems, Springer-Verlag, Berlin, 2003.
Guse, N. and Schiehlen, W., Low Energy Control of Periodic Motions in Manufacturing. In Proc. XXI ICTAM 2004, Warsaw, Poland, August 15–21, 2004.
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.
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.
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.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer
About this paper
Cite this paper
Schiehlen, W., Guse, N. (2005). Powersaving Control of Mechanisms. In: Ulbrich, H., GÜnthner, W. (eds) IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures. Solid Mechanics and its Applications, vol 130. Springer, Dordrecht. https://doi.org/10.1007/1-4020-4161-6_25
Download citation
DOI: https://doi.org/10.1007/1-4020-4161-6_25
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-4160-0
Online ISBN: 978-1-4020-4161-7
eBook Packages: EngineeringEngineering (R0)