TY - GEN
T1 - Port-based modelling of manipulators with flexible links
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 - 22/4 OA procedure
U2 - 10.1109/ROBOT.2006.1641981
DO - 10.1109/ROBOT.2006.1641981
M3 - Conference contribution
SN - 0-7803-9505-0
T3 - Proceedings IEEE International Conference on Robotics and Automation, ICRA
SP - 1886
EP - 1891
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
PB - IEEE
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -