scholarly journals The dynamics of a mobile transport robot

Mechanik ◽  
2018 ◽  
Vol 91 (5-6) ◽  
pp. 390-395
Author(s):  
Marcin Szuster ◽  
Paweł Obal
Keyword(s):  
Laboratory Testing ◽  
Inverse Dynamics ◽  
Operating Conditions ◽  
Robot Dynamics ◽  
Control Methods ◽  
Lagrange Equations ◽  
Complex Dynamic ◽  
Inverse Dynamics Problem ◽  
Dynamic Objects

The article presents the construction of a mobile transport robot which is a forklift model, used for laboratory testing of control methods for complex dynamic objects in changing operating conditions. The robot dynamics is calculated using Lagrange equations of the 2nd type with multipliers. The results of solving the inverse dynamics problem were presented using the robot’s trajectory which consists of stages of movement typical for transport tasks performed by forklift.

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

Mathematical forulation of the problem of controlling complex dynamic objects for the production of nonwovens

2012 ◽  
Vol 44 (3) ◽  
pp. 189-194
Author(s):  
A. E. Polyakov ◽  
K. A. Polyakov ◽  
A. A. Uspenskii ◽  
V. A. Dubovitskii ◽  
E. M. Filimonova ◽  
...  
Keyword(s):  
Complex Dynamic ◽  
Dynamic Objects

Discrete-Time Inverse Dynamics Control of Flexible Joint Robots

1992 ◽  
Vol 114 (2) ◽  
pp. 229-233 ◽  
Author(s):  
K. P. Jankowski ◽  
H. Van Brussel
Keyword(s):  
Discrete Time ◽  
Control Algorithm ◽  
Inverse Dynamics ◽  
Differential Algebraic Equations ◽  
Control Methods ◽  
Algebraic Equations ◽  
Computationally Efficient ◽  
Electromechanical Actuators ◽  
Flexible Joint Robots ◽  
Inverse Dynamics Control

This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm.

Static optimal estimation of joint accelerations for inverse dynamics problem solution

2002 ◽  
Vol 35 (11) ◽  
pp. 1507-1513 ◽  
Author(s):  
Violaine Cahouët ◽  
Martin Luc ◽  
Amarantini David
Keyword(s):  
Inverse Dynamics ◽  
Optimal Estimation ◽  
Problem Solution ◽  
Inverse Dynamics Problem

scholarly journals Dynamics of trunk type robot with spherical piezoelectric actuators

2020 ◽  
Vol 9 (2) ◽  
pp. 113
Author(s):  
Aistis Augustaitis ◽  
Vytautas Jurėnas
Keyword(s):  
Inverse Dynamics ◽  
Potential Method ◽  
Lagrange Equations ◽  
Fourth Section ◽  
Analytical Potential ◽  
Effective Option ◽  
History Of ◽  
Risk Zones ◽  
Spherical Actuator ◽  
High Level

<p class="Abstract">Trunk type robots (TTRs) are exclusive. These robots can provide a high level of maneuverability and have a potential in medicine or high risk zones. TTRs are determined as a long serial linkage of similar segments. They are usually connected using tendons or small actuators. A spherical actuator is the most appreciable option. The motion of real spherical actuator (RSA) can be easily obtained applying an inverse piezoelectric effect. It has three independent spinning axes. These axes are perpendicular to each other despite the history of excitation. Kinematics and dynamics of RSA almost have no basics regardless of mentioned features. This situation can be explained according to common disadvantages of other SAs: sophisticated structure and complex control. The structures and abilities of TTRs are reviewed in the first section of this article. At the beginning of the fourth section the kinematics of piezoelectric TTR with two different RSAs is introduced. Its results of inverse dynamics using Euler-Lagrange equations are presented at the end of the fourth section. Similar results are derived using an analytical-potential method in the fifth section. It is quite accurate and effective option to determine inverse dynamics of the TTR employing an analytical-potential method.</p>

scholarly journals Improvement the DTC system for electric vehicles induction motors

2010 ◽  
Vol 7 (2) ◽  
pp. 149-165 ◽  
Author(s):  
Ali Arif ◽  
Achour Betka ◽  
Abderezak Guettaf
Keyword(s):  
Electric Vehicles ◽  
Fuzzy Logic Controller ◽  
Operating Conditions ◽  
The Novel ◽  
Control Methods ◽  
Squirrel Cage ◽  
Squirrel Cage Induction Motor ◽  
Three Phase ◽  
Cage Induction Motor ◽  
Current Ripples

A three-phase squirrel-cage induction motor is used as a propulsion system of an electric vehicle (EV). Two different control methods have been designed. The first is based on the conventional DTC Scheme adapted for three level inverter. The second is based on the application of fuzzy logic controller to the DTC scheme. The motor is controlled at different operating conditions using a FLC based DTC technique. In the simulation the novel proposed technique reduces the torque and current ripples. The EV dynamics are taken into account.

Substantiation of amplitude-frequency characteristics and design parameters of vibration exciter in volume oscillation separator

2021 ◽  
Vol 12 (2) ◽  
Author(s):  
I Palamarchuk ◽  
◽  
V Vasyliv ◽  
V Sarana ◽  
M Mushtruk ◽  
...  
Keyword(s):  
Translational Motion ◽  
Operating Conditions ◽  
Design Parameters ◽  
Vibration Velocity ◽  
Vibration Exciter ◽  
Lagrange Equations ◽  
Bulk Materials ◽  
Vibrating Screen ◽  
Working Bodies ◽  
Oscillating Motion

The main effects of the developed design for vibratory separator: the increased driving force in the process of bulk material separation in this work, achieved by providing the working cylindrical-conical container with vibrational motion; improving the conditions for the passage of product particles through openings, achieved by providing the sieve surface with volume oscillations; reduction of energy consumption and improvement of operating conditions for support nodes during the operation of the designed vibrating screen, achieved due to the installation of additional elastic elements between the separator body and bearing assemblies of the vertical drive shaft in vibration exciter. Providing the working bodies of the designed vibrating screen with volume oscillating motion allows increasing the performance and quality of the separation process of solid bulk materials. To determine the rational parameters for vibration screening process, the equations of motion of working bodies as a conical sieve surface were obtained using the method of the Lagrange equations of the second order. When applying solutions of the Cauchy problem for linear nonhomogeneous differential equations, the solution of the latter was obtained. The obtained dependences of oscillation amplitudes, vibration velocity and vibration acceleration, and the intensity of oscillating motion allowed us to perform a mathematical analysis for power and energy parameters of vibration drive in the developed separator. The inclined placement of the conical sieve surface allows for spatial gyration or circular translational motion, which makes it possible to realize the advantages of volumetric separation of bulk materials. The results of the conducted analytical study made it possible to substantiate the optimal inclination angle for working sieve surface. Based on our analysis, the design parameters of vibration exciter were substantiated and clarified, and the design of this technical system was demonstrated.

On Small Scale LNG Concepts

2021 ◽  
Author(s):  
Rainer Kurz ◽  
Min Ji ◽  
Griffin Beck ◽  
Timothy C. Allison
Keyword(s):  
Gas Turbines ◽  
Operating Conditions ◽  
Process Efficiency ◽  
Small Scale ◽  
Control Methods ◽  
Electric Drives ◽  
Output Driver ◽  
The Relationship ◽  
Equipment Performance

Abstract The different economics of small scale LNG plants put more emphasis on capital expenses over process efficiency, and thus favors simpler refrigeration cycles. We typically find reverse Brayton cycles, or SMR (Single mixed refrigerant) cycles. These cycles have specific requirements to the compression equipment, and typically have smaller drivers, either electric drives or gas turbines. The relationship between output, driver size, and process preferences is explained. The type of compressors, and expanders needed are discussed, together with thoughts and the driver preferences. This includes the different control methods that can be used, both for the cycle adaptation, as well as the related control of the compressors, expanders, valves and drivers. Equipment performance maps are created to highlight the required different operating conditions. This result allows for subsequent optimization discussions.

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