Port-based modelling of manipulators with flexible links

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

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-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 languageUndefined
    Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
    PublisherIEEE
    Pages1886-1891
    Number of pages6
    ISBN (Print)0-7803-9505-0
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, United States
    Duration: 15 May 200619 May 2006

    Conference

    Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
    Abbreviated titleICRA
    CountryUnited States
    CityOrlando
    Period15/05/0619/05/06

    Keywords

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

    Cite this