Automated generation of reference dynamical models for constrained robotic systems in the presence of friction and damping effects

Abstract

SummaryThis paper details a new automated generation method of dynamic models of structures allowing presence of friction and damping in their models as well as subjected to position or kinematic constraints. The constraints may be material, which come from the system interaction with environment, or may be programmed. The novelty of the presented dynamics generation method is to include friction and damping into modeling and to require predefined constraint satisfaction as well. The latter requirement is critical, since when friction and damping are neglected, controllers may be inadequately designed, constraints may be violated, and overall system performance may be poor. The developed method is applied to a manipulator model, whose end‐effector performance is predefined by programmed constraints. Simulation results present manipulator constrained motion. The advantage of this method is that it serves both reference and control oriented dynamics derivation, and the final dynamics models are obtained in the reduced state form, ie, constraint reaction forces are eliminated. This is the fundamental difference between the presented approach and the Lagrange based approaches to constrained system modeling.

Dynamics modeling method dedicated to system models with open- and closed-loop structures subjected to kinematic and task based constraints

“…[29][30][31][32]. For systems subjected to such constraints the preliminary results for obtaining computationally efficient dynamical models were presented in [11,33]. Such constraints at the position level, referred to as programmed, were incorporated into a rigid-flexible system dynamics for open loop structures.…”

Dynamics Modeling Method Dedicated to System Models with Open- and Closed-loop Structures Subjected to Kinematic and Task Based Constraints

“…The set of equations (8.1) and (8.2) can be transformed to the form that uses directly functions for the kinetic and potential energies, as well as explicit forms of external forces on a system. The GPME modified for flexible open-loop structures subjected to position constraints are detailed in [39,40]. For the development of a general structure of the automated CoPCoD, we take advantage of the form of the GPME that uses the energy and force functions.…”

“…[34 -38]. For systems subjected to such constraints the preliminary results for obtaining the computationally efficient dynamical models were presented in [12,39,40]. There, constraints of this kind, referred to as programmed, at the position level, were incorporated into a rigid-flexible system dynamics for open loop structures.…”

Programmed task based motion analysis of robotic systems equipped with flexible links and supports

“…where: The generalized programmed motions equations (GPME) with first order programmed constraints underlie the derivation procedure and they have the form [3,4]:…”

“…The constraints put on a system are referred to as programmed and they are imposed as control goals on system performance or service task requirements. The procedure of generating reference dynamics offers automated generation of equations and it was successfully developed and implemented to rigid system models [3,4]. The advantage of this procedure is that it serves both reference and control oriented dynamics derivation and the final dynamics models are obtained in the reduced state form, i.e.…”