Port-based modelling of manipulators with flexible links

A. Macchelli; Alessandro Macchelli; Stefano Stramigioli; Claudio Melchiorri

doi:10.1109/ROBOT.2006.1641981

Port-based modelling of manipulators with flexible links

A. Macchelli, Alessandro Macchelli, Stefano Stramigioli, Claudio Melchiorri

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

65 Downloads (Pure)

Abstract

In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). Since rigid bodies and flexible links are described within the port Hamiltonian formalism, their interconnection is possible once a proper relation between the power conjugated port variables is deduced. These relations are the analogous of the Kirchoff laws of circuit theory. The final model is a mixed port Hamiltonian system because of the presence of a finite dimensional subsystem modelling the rigid bodies and of an infinite dimensional one describing the flexible links. The intrinsic modularity of the approach simplifies the model deduction and simulation, while the Hamiltonian description suggests the development of energy-based controllers.

Original language	Undefined
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Publisher	IEEE
Pages	1886-1891
Number of pages	6
ISBN (Print)	0-7803-9505-0
DOIs	https://doi.org/10.1109/ROBOT.2006.1641981
Publication status	Published - 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, United States Duration: 15 May 2006 → 19 May 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Abbreviated title	ICRA
Country	United States
City	Orlando
Period	15/05/06 → 19/05/06

Keywords

CE-Advanced Robotics
IR-62283
METIS-248252
EWI-12677

Access to Document

10.1109/ROBOT.2006.1641981

Macchelli06port
open

http://eprints.eemcs.utwente.nl/secure2/12677/01/Macchelli-ICRA06.pdf-8e4576e799e9ee6e805477148a382ddc.pdf

Cite this

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title = "Port-based modelling of manipulators with flexible links",

abstract = "In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). Since rigid bodies and flexible links are described within the port Hamiltonian formalism, their interconnection is possible once a proper relation between the power conjugated port variables is deduced. These relations are the analogous of the Kirchoff laws of circuit theory. The final model is a mixed port Hamiltonian system because of the presence of a finite dimensional subsystem modelling the rigid bodies and of an infinite dimensional one describing the flexible links. The intrinsic modularity of the approach simplifies the model deduction and simulation, while the Hamiltonian description suggests the development of energy-based controllers.",

keywords = "CE-Advanced Robotics, IR-62283, METIS-248252, EWI-12677",

author = "A. Macchelli and Alessandro Macchelli and Stefano Stramigioli and Claudio Melchiorri",

year = "2006",

doi = "10.1109/ROBOT.2006.1641981",

language = "Undefined",

isbn = "0-7803-9505-0",

pages = "1886--1891",

booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

publisher = "IEEE",

address = "United States",

note = "null ; Conference date: 15-05-2006 Through 19-05-2006",

}

Macchelli, A, Macchelli, A, Stramigioli, S & Melchiorri, C 2006, Port-based modelling of manipulators with flexible links. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. IEEE, pp. 1886-1891, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641981

Port-based modelling of manipulators with flexible links. / Macchelli, A.; Macchelli, Alessandro; Stramigioli, Stefano; Melchiorri, Claudio.

Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. IEEE, 2006. p. 1886-1891.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Port-based modelling of manipulators with flexible links

AU - Macchelli, A.

AU - Macchelli, Alessandro

AU - Stramigioli, Stefano

AU - Melchiorri, Claudio

PY - 2006

Y1 - 2006

N2 - In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). Since rigid bodies and flexible links are described within the port Hamiltonian formalism, their interconnection is possible once a proper relation between the power conjugated port variables is deduced. These relations are the analogous of the Kirchoff laws of circuit theory. The final model is a mixed port Hamiltonian system because of the presence of a finite dimensional subsystem modelling the rigid bodies and of an infinite dimensional one describing the flexible links. The intrinsic modularity of the approach simplifies the model deduction and simulation, while the Hamiltonian description suggests the development of energy-based controllers.

AB - In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). Since rigid bodies and flexible links are described within the port Hamiltonian formalism, their interconnection is possible once a proper relation between the power conjugated port variables is deduced. These relations are the analogous of the Kirchoff laws of circuit theory. The final model is a mixed port Hamiltonian system because of the presence of a finite dimensional subsystem modelling the rigid bodies and of an infinite dimensional one describing the flexible links. The intrinsic modularity of the approach simplifies the model deduction and simulation, while the Hamiltonian description suggests the development of energy-based controllers.

KW - CE-Advanced Robotics

KW - IR-62283

KW - METIS-248252

KW - EWI-12677

U2 - 10.1109/ROBOT.2006.1641981

DO - 10.1109/ROBOT.2006.1641981

M3 - Conference contribution

SN - 0-7803-9505-0

SP - 1886

EP - 1891

BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

PB - IEEE

Y2 - 15 May 2006 through 19 May 2006

ER -