On Electrical Analogues of Mechanical Systems and their Using in Analysis of Robot Dynamics

Jezierski, Edward

doi:10.1007/978-1-84628-405-2_25

Cited by 8 publications

(6 citation statements)

References 10 publications

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“…The contraction force produced in the pneumatic muscle is determined based on virtual work (Jezierski, 2006) where dW p is the elementary work performed by compressed air when changing the muscle volume and dW f is the elementary work done by external force when shortening the muscle. Hence, the following expression can be given (Jezierski, 2006) where p m is the absolute air pressure in the muscle, p 0 is the atmospheric pressure, dV m is the volume change, F ax1 is the contraction force and d ( q 1x − q sx ) is the muscle shortening. Rearranging equation (3), the muscle force is calculated as follows The cylindrical volume V m of the pneumatic muscle depends on both its variable diameter d m and length q 1x − q sx , as follows …”

Section: Model Of a Horizontal Seat Suspension With The Pneumatic mentioning

confidence: 99%

Modeling and vibration control of an active horizontal seat suspension with pneumatic muscles

Maciejewski

Krzyżyński

Meyer³

2018

Journal of Vibration and Control

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In the following paper, the dynamic modeling of a horizontal seat suspension which uses pneumatic muscles for the purpose of active vibration control is discussed. An original control system structure is proposed in order to improve the vibro-isolation properties of a horizontal seat suspension system. The presented control system design is based on inverse models of the pneumatic muscles and the primary controller that calculates the desired active force. By using the configurable control algorithm developed in this paper, it is possible to achieve a significant reduction in vibrations transmitted into the human body with just a slight increasing of the suspension travel. The active seat shows improved performance over the passive system in the 1–10 Hz frequency range. The results presented in this paper are useful in selecting the horizontal vibration control system for improving the comfort of a drive.

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Section: Model Of a Horizontal Seat Suspension With The Pneumatic mentioning

confidence: 99%

Modeling and vibration control of an active horizontal seat suspension with pneumatic muscles

Maciejewski

Krzyżyński

Meyer³

2018

Journal of Vibration and Control

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“…The equation can be used to control the robot by the means of "the computed torque feedforward control". Equation (5) shows that the response of a conventional driver's impedance depends on the value of acceleration, velocity and position, as well as the value of the force controller, set controller parameters (�, � � and � � ) and the object's dynamic parameters (�, �, �, �).…”

Section: The Impedance Drivermentioning

confidence: 99%

“…The concept of impedance control was first introduced to the field of robotics by Hogan [3]. If we assume that we are utilizing the analogy of velocitycurrent [5,6], then mechanical impedance can be defined with a greater precision. Namely, after the adaption of an incremental linear dynamical model in the vicinity of a chosen operating point, the mechanical impedance of the kinematic chain is defined as the Laplace transform of the force exerted by the end-effector of the manipulator to the Laplace transform of effectors' velocity.…”

Section: Introductionmentioning

confidence: 99%

Impedance Controllers for Electric-Driven Robots

Jezierski¹,

Gmerek²

2013

JAMRIS

Self Cite

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This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the environment. The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted. The intention of the creators was to develop a universal impedance regulator in the sense of hardware and software layers. Because of TCP/IP architecture, the designed regulator can be easily adapted to different robot controllers. Experiments were conducted on a real 1-DOF manipulator driven by BLDC motor, as well as using simulation on a 2DOF planar robot.

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“…Berthet et al [20] showed the electronic analog of the parametric instabilities in mechanical systems. Jezierski showed different dynamics of the electronic analog of a mechanical system used for the robotic dynamics [21]. Apart from that, a lot of works have been done regarding various aspects of the equivalence of electrical and mechanical systems [22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Equivalent Electronic Circuit of a System of Oscillators Connected With Periodically Variable Stiffness

Seth¹,

Kudra²,

Witkowski³

et al. 2022

Preprint

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In this paper, we have shown the electronic circuit equivalence of a mechanical system consists of two oscillators coupled with each other. The mechanical design has the effects of the magnetic, resistance forces and the spring constant of the system is periodically varying. We have shown that the system’s state variables, such as the displacements and the velocities, under the effects of different forces, lead to some nonlinear behaviors, like a transition from the fixed point attractor to the chaotic attractor through the periodic and quasi-periodic attractors. We have constructed the equivalent electronic circuit of this mechanical system and have verified the numerically obtained behaviors using the electronic circuit.

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On Electrical Analogues of Mechanical Systems and their Using in Analysis of Robot Dynamics

Cited by 8 publications

References 10 publications

Modeling and vibration control of an active horizontal seat suspension with pneumatic muscles

Modeling and vibration control of an active horizontal seat suspension with pneumatic muscles

Impedance Controllers for Electric-Driven Robots

Equivalent Electronic Circuit of a System of Oscillators Connected With Periodically Variable Stiffness

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