Accuracy of discrete models for the inverse dynamics of flexible arms, feasible trajectories

1990 ◽  
Author(s):  
H.C. Moulin ◽  
E. Bayo
Keyword(s):  
Inverse Dynamics ◽  
Discrete Models ◽  
Flexible Arms

Acceleration Profiles for Causal Solutions of the Inverse Dynamics Approach to the Control of Single Link Flexible Arms

1991 ◽  
Vol 113 (4) ◽  
pp. 752-754 ◽  
Author(s):  
H. C. Moulin ◽  
E. Bayo
Keyword(s):  
Inverse Dynamics ◽  
Peak Torque ◽  
Discrete Models ◽  
Actuation Time ◽  
End Point ◽  
Single Link ◽  
Flexible Arms

A scheme for the design of rest-to-rest acceleration profiles to be used in the inverse dynamics approach to the control of the end-point of single link flexible arms is described. The scheme uses linear discrete models, and a stable pole-cancellation method to obtain acceleration profiles that yield inverse dynamics torques with the same supports as that of the end-point acceleration profiles; it allows for a design which reaches a balance between overshoot, peak torque and actuation time.

Real-Time Algorithm of the Inverse Dynamics of Flexible Arms

1992 ◽  
Vol 25 (20) ◽  
pp. 199-203
Author(s):  
Wang Guoli ◽  
Lu Guizhang
Keyword(s):  
Real Time ◽  
Inverse Dynamics ◽  
Time Algorithm ◽  
Flexible Arms

Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories

1997 ◽  
Vol 119 (3) ◽  
pp. 396-404 ◽  
Author(s):  
H. C. Moulin ◽  
E. Bayo
Keyword(s):  
High Frequency ◽  
Inverse Dynamics ◽  
Numerical Procedure ◽  
Continuous System ◽  
Continuous Model ◽  
Discrete Models ◽  
Frequency Range ◽  
Model Order ◽  
Inverse Dynamics Problem ◽  
Tip Mass

The inverse dynamics problem for a single link flexible arm is considered. The tracking order of consistent and lumped finite element models is derived and compared with the tracking order of the continuous model when there is no tip-mass. These comparisons show that discrete models fail to identify the tracking order of a modelled continuous system. A frequency domain analysis shows that an increase in the model order extends the well-modelled low-frequency range and, at the same time, increases the inadequacy in the high-frequency range. As a result, inverse dynamics solutions computed with discrete models do not converge to the continuous solution as the model order increases. The use of high-frequency filters allows us to construct a convergent numerical procedure. A conjecture about the tracking order is presented when there is a tip mass. It is shown that the same results are obtained if superposition of modes rather than finite elements is used.

Inverse Dynamics of a Flexible Robot Arm by Optimal Control

1993 ◽  
Vol 115 (2) ◽  
pp. 289-293 ◽  
Author(s):  
T. Kokkinis ◽  
M. Sahraian
Keyword(s):  
Optimal Control ◽  
Inverse Dynamics ◽  
Robot Arm ◽  
Flexible Robot ◽  
Joint Torques ◽  
Practical Applications ◽  
End Point ◽  
Point Tracking ◽  
Flexible Arms ◽  
High Frequency Content

The problem of end-point positioning of flexible arms is discussed. Because of the nonminimum phase nature of the problem, inversion fails to produce bounded joint torques. Bounded noncausal joint torques for achieving the task of end-point tracking for a multilink arm are found using optimal control theory. The torques obtained have no high-frequency content, and are suitable for practical applications. The method is illustrated by simulation of a single-link arm, for which stability and robustness considerations for design are given.

Discrete Models of Financial Markets

2009 ◽  
Author(s):  
Marek Capinski ◽  
Ekkehard Kopp
Keyword(s):  
Financial Markets ◽  
Discrete Models
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