发表机构
Technical University of Munich (TUM); German Aerospace Center (DLR)（慕尼黑工业大学（TUM）; 德国航空航天中心（DLR））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究设计了一种与测地流兼容的势函数，可让严格正规模态密集填充机械系统构型空间，还设计了对应控制器，经两自由度机械臂实验验证，能高效执行周期轨迹并稳定系统。
AI 中文摘要
严格非线性正规模态在保守机械系统中构成极具规律性的振荡族，但严格正规模态通常是系统构型空间内的孤立曲线。本研究设计一种势函数，其能让严格正规模态密集填充构型空间，使每个构型都属于一个模态，且所有模态均经过公共点（平衡位置）。该势函数可通过（非线性）弹性元件实现，能高效执行多种周期轨迹，所需力矩大多来自系统内的弹性元件而非执行器。此外，本研究设计了将系统稳定至期望目标模态的控制器，以及执行摆起并补偿耗散能量的控制器。最后，以两自由度（DoF）机械臂为例展示该方法，实验表明该方法对示例系统表现良好。
英文摘要
Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical systems. However, a strict normal mode will generally be an isolated curve within the configuration space of the system. In this letter, we design a potential that will densely fill the configuration space with strict normal modes such that each configuration belongs to one mode and each mode passes through a common point, the equilibrium. As the potential can be realized by (nonlinear) elastic elements it can be used to execute a variety of periodic trajectories very efficiently. Most of the required torques will come from the elastic elements in the system and not from the actuators. We also design a controller stabilizing the system to a desired target mode and a controller performing swing-up and compensating dissipated energy. Finally, we showcase the approach for a two DoF manipulator. The experiments show that the approach performed well for the example system.
Journal refIEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2337-2344, April 2022
