Bond graph Modeling and Control of Compliant Legged Quadruped Robot

2017 ◽  
pp. 497-546
Author(s):  
M. M. Gor ◽  
P. M. Pathak ◽  
A. K. Samantaray ◽  
J. M. Yang ◽  
S. W. Kwak
Keyword(s):  
Bond Graph ◽  
Quadruped Robot ◽  
Modeling And Control ◽  
Graph Modeling ◽  
Bond Graph Modeling ◽  
And Control

Bond Graph Modeling and Computational Control Analysis of a Rigid-Flexible Space Robot in Work Space

2013 ◽  
pp. 152-164
Author(s):  
Amit Kumar ◽  
Pushparaj Mani Pathak ◽  
N. Sukavanam
Keyword(s):  
Control Point ◽  
Bond Graph ◽  
Point Of View ◽  
Space Robot ◽  
Control Analysis ◽  
Flexible Link ◽  
Modeling And Control ◽  
Work Space ◽  
Graph Modeling ◽  
Bond Graph Modeling

The combination of a rigid and a flexible link in a space robot is an interesting field of study from modeling and control point of view. This paper presents the bond graph modeling and overwhelming trajectory control of a rigid-flexible space robot in its work space using the Jacobian based controller. The flexible link is modeled as Euler Bernoulli beam. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy, by representing the dynamics of both rigid and flexible links in a unified manner. The scheme has been verified using simulation for a rigid-flexible space manipulator with two links.

Bond Graph Modeling and Computational Control Analysis of a Rigid-Flexible Space Robot in Work Space

2011 ◽  
Vol 1 (3) ◽  
pp. 18-30
Author(s):  
Amit Kumar ◽  
Pushparaj Mani Pathak ◽  
N. Sukavanam
Keyword(s):  
Control Point ◽  
Bond Graph ◽  
Point Of View ◽  
Space Robot ◽  
Control Analysis ◽  
Flexible Link ◽  
Modeling And Control ◽  
Work Space ◽  
Graph Modeling ◽  
Bond Graph Modeling

The combination of a rigid and a flexible link in a space robot is an interesting field of study from modeling and control point of view. This paper presents the bond graph modeling and overwhelming trajectory control of a rigid-flexible space robot in its work space using the Jacobian based controller. The flexible link is modeled as Euler Bernoulli beam. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy, by representing the dynamics of both rigid and flexible links in a unified manner. The scheme has been verified using simulation for a rigid-flexible space manipulator with two links.

Dynamic Model of Dual Clutch Lever-Based Electromechanical Actuator

2011 ◽  
Author(s):  
Vladimir Ivanovic´ ◽  
Josˇko Deur ◽  
Milan Milutinovic´ ◽  
H. Eric Tseng
Keyword(s):  
Experimental Data ◽  
Dynamic Model ◽  
Model Validation ◽  
Bond Graph ◽  
Test Rig ◽  
Electromechanical Actuator ◽  
Actuator Dynamics ◽  
Operating Modes ◽  
Graph Modeling ◽  
Bond Graph Modeling

The paper presents a dynamic model of a dual clutch lever-based electromechanical actuator. Bond graph modeling technique is used to describe the clutch actuator dynamics. The model is parameterized and thoroughly validated based on the experimental data collected by using a test rig. The model validation results are used for the purpose of analysis of the actuator behavior under typical operating modes.

Bond Graph Modeling and Analysis of HEV System Based on Ravigneaux Planetary Mechanism

2013 ◽  
Vol 724-725 ◽  
pp. 1402-1408
Author(s):  
Li He Xi ◽  
Hong Wei Chen ◽  
Xin Zhang
Keyword(s):  
Bond Graph ◽  
Structural Form ◽  
Graph Models ◽  
Modeling And Analysis ◽  
Electric System ◽  
Operating Modes ◽  
Graph Modeling ◽  
Time Requirements ◽  
Bond Graph Modeling ◽  
Planetary Mechanism

The bond graph method is used to analyse and model dynamics of hybrid electric system based on Ravigneaux Planetary Mechanism. Bond graph models are built in different structural form, general equations of torque and speed are derived, and operating modes achieved in different structural form are in consideration. At the same time, requirements of control system in different operating modes are illustrated and analysed, which help lay the foundations for modeling and simulation of HEV system based on Ravigneaux Planetary Mechanism.

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