Flexible Robots - Modeling and Simulation

Hartmut Bremer

Flexible Robots - Modeling and Simulation

Hartmut Bremer

Institut für Robotik

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

Abstract

Modelling and simulation needs adequate procedures. These can be devided into the analytical and the synthetic methods the basis of which is the Central Equation of Dynamics (1904/1988), derived from LAGRANGE’s Principle (1764). The analytical methods [LAGRANGE (1780), MAGGI (1903), HAMEL (1904)] thereby do not really meet the engineering needs. But the Central Equation also leads to the synthetical method(s) which in its most general representation is the Projection Equation (1988/2003). Along with a RITZ series expansion it leads to an Order-n-Formalism for flexible robots as the most powerful procedure, approximating also real time demands (2008/2011). The historical data show a countinuous development over the decades which makes mechanics an enjoyable and inspiring science and reveals classical mechanics as modern as can be. Applications at the end of the paper demonstrate once more its success.

Originalsprache	Deutsch (Österreich)
Titel	Proceedings of the International Conference on Advanced Dynamics and Model Based Control of Structures and Machines, 1-4 July 2012, Saint Petersburg, RUSSIA
Seitenumfang	10
Publikationsstatus	Veröffentlicht - 2012

Wissenschaftszweige

203022 Technische Mechanik
203013 Maschinenbau
202035 Robotik
203015 Mechatronik

JKU-Schwerpunkte

Mechatronics and Information Processing

Dieses zitieren

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AB - Modelling and simulation needs adequate procedures. These can be devided into the analytical and the synthetic methods the basis of which is the Central Equation of Dynamics (1904/1988), derived from LAGRANGE’s Principle (1764). The analytical methods [LAGRANGE (1780), MAGGI (1903), HAMEL (1904)] thereby do not really meet the engineering needs. But the Central Equation also leads to the synthetical method(s) which in its most general representation is the Projection Equation (1988/2003). Along with a RITZ series expansion it leads to an Order-n-Formalism for flexible robots as the most powerful procedure, approximating also real time demands (2008/2011). The historical data show a countinuous development over the decades which makes mechanics an enjoyable and inspiring science and reveals classical mechanics as modern as can be. Applications at the end of the paper demonstrate once more its success.

M3 - Konferenzbeitrag

BT - Proceedings of the International Conference on Advanced Dynamics and Model Based Control of Structures and Machines, 1-4 July 2012, Saint Petersburg, RUSSIA

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