scholarly journals A randomized integral error criterion for parametric identification of dynamic models of mechanical systems

1999 ◽  
Vol 213 (2) ◽  
pp. 119-134
Author(s):  
M C Best ◽  
T J Gordon
Keyword(s):  
Dynamic Models ◽  
Mechanical Systems ◽  
Parametric Identification ◽  
Error Criterion ◽  
Integral Error

scholarly journals Algebraic Parameter Identification of Nonlinear Vibrating Systems and Non Linearity Quantification Using the Hilbert Transformation

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Luis Gerardo Trujillo-Franco ◽  
Gerardo Silva-Navarro ◽  
Francisco Beltran-Carbajal
Keyword(s):  
Dynamic Performance ◽  
Differential Algebra ◽  
Operational Calculus ◽  
Mechanical Systems ◽  
Algebraic Approach ◽  
Parametric Identification ◽  
Hilbert Transformation ◽  
Orthogonal Functions ◽  
Matrix Operations ◽  
Specific Operating Condition

A novel algebraic scheme for parameters’ identification of a class of nonlinear vibrating mechanical systems is introduced. A nonlinearity index based on the Hilbert transformation is applied as an effective criterion to determine whether the system is dominantly linear or nonlinear for a specific operating condition. The online algebraic identification is then performed to compute parameters of mass and damping, as well as linear and nonlinear stiffness. The proposed algebraic parametric identification techniques are based on operational calculus of Mikusiński and differential algebra. In addition, we propose the combination of the introduced algebraic approach with signals approximation via orthogonal functions to get a suitable technique to be applied in embedded systems, as a digital signals’ processing routine based on matrix operations. A satisfactory dynamic performance of the proposed approach is proved and validated by experimental case studies to estimate significant parameters on the mechanical systems. The presented online identification approach can be extended to estimate parameters for a wide class of nonlinear oscillating electric systems that can be mathematically modelled by the Duffing equation.

Linearized Dynamic Models for Robot Manipulators With Varying Link Parameters

1991 ◽  
Author(s):  
Chang-Jin Li ◽  
T. S. Sankar ◽  
A. Hemami
Keyword(s):  
Computational Complexity ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Mechanical Systems ◽  
Computational Algorithms ◽  
Inverse Dynamic ◽  
Dynamic Link

Abstract In this paper, two fast computational algorithms are developed for effective formulation for the linearized dynamic robot models with varying (kinematic and dynamic) link parameters. The proposed algorithms can generate complete linearized (inverse) dynamic models for robot manipulators, taking variations (e.g., inexactness, inconstancy, or uncertainty) of the kinematic and dynamic link parameters into account. They can be applied to any robot manipulator with rotational and/or translational joints, and can be utilized, also, for sensivitity analysis of similar mechanical systems. The computational complexity of these algorithms is only of order O(n), where n is the number of degrees-of-freedom of the robot manipulator.

A Sequential Algebraic Parametric Identification Approach for Nonlinear Vibrating Mechanical Systems

2017 ◽  
Vol 19 (4) ◽  
pp. 1564-1574 ◽  
Author(s):  
F. Beltran-Carbajal ◽  
G. Silva-Navarro ◽  
L. G. Trujillo-Franco
Keyword(s):  
Mechanical Systems ◽  
Parametric Identification ◽  
Identification Approach

Bi-Mobile Leg Mechanism Dynamic Model

2015 ◽  
Vol 811 ◽  
pp. 273-278
Author(s):  
Adriana Comanescu ◽  
Dinu Comanescu ◽  
Ileana Dugaesescu ◽  
Liviu Marian Ungureanu
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Mechanical Systems ◽  
Motion Equation ◽  
Active Group ◽  
Mobile Platform ◽  
Robot Arms ◽  
Classic Theory

The paper brings into attention the dynamic analysis of a bi-mobile mechanism selected from the literature and used for the leg of a mobile platform. Two solutions of bi-mobile mechanical systems applied in such purpose are found. In the classic theory of mechanisms the dynamic models for the mono-mobile mechanisms are known. Through the motion equation these put into evidence the variation of the reduced moment or reduced force applied to the input link for an entire cycle in the permanent regime functioning of the mechanism. In the case of the leg bi-mobile mechanism the approached dynamic model is based on the bi-mobile RTRTR active group firstly applied for a real technique solution in robotics. The mechanism may be also used for robot arms.

Modeling Low Velocity Impacts in Mechanical Systems Involving Rigid and Flexible Bodies

2008 ◽  
Author(s):  
Ahmet S. Yigit ◽  
Andreas P. Christoforou
Keyword(s):  
Dynamic Models ◽  
A Priori ◽  
Mechanical Systems ◽  
Suitable Model ◽  
Low Velocity ◽  
Flexible Bodies ◽  
Dimensional Parameters ◽  
Maximum Impact Force ◽  
Relationship Of ◽  
The Impact

This paper presents the preliminary results of an ongoing computational and experimental study of common impact situations in mechanical systems involving both rigid and flexible bodies. It is demonstrated that a characterization diagram that shows the relationship of three non-dimensional parameters with the normalized maximum impact force, can be used to fully describe the impact response. The governing non-dimensional parameters can be obtained a priori by analytical, experimental, or computational means. Impact situations having the same non-dimensional parameters, have dynamic similarity and have the same non-dimensional response. Furthermore, they can be placed in appropriate dynamic regions in which simplified dynamic models can be used to predict the response. Therefore, the characterization methodology has the potential to identify the most suitable model for a given impact situation.

Synchronization of Networked Mechanical Systems With Communication Delays and Human Input

2013 ◽  
Vol 135 (4) ◽  
Author(s):  
Yen-Chen Liu ◽  
Nikhil Chopra
Keyword(s):  
Time Delays ◽  
Dynamic Models ◽  
Mechanical Systems ◽  
Constant Time ◽  
Human Operator ◽  
Regular Graphs ◽  
Communication Delays ◽  
Closed Loop System ◽  
Synchronization Errors ◽  
Strongly Connected

The problem of controlling a group of networked mechanical systems to synchronize and follow a common trajectory is studied in this paper. We first address the results for networked mechanical systems to achieve synchronization when the interagent communication graph is balanced and strongly connected with communication delays. Subsequently, a control law is developed to guarantee synchronization and trajectory tracking for networked mechanical systems communicating on regular graphs when there are constant time delays in communication and the interconnection topology is time-varying. The case when a human operator input is introduced in the closed-loop system is also considered. It is demonstrated that a bounded human operator input results in bounded tracking and synchronization errors, even when there are constant time delays in communication. The simulation and experimental results are presented by utilizing the kinematic and dynamic models of PHANToM Omni derived in this paper.

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