Steady State of a Planar Robot: A Bond Graph Approach

摘要

A procedure to determine the steady state response of a planar robot modeling in a bond graph is presented. This procedure is based on a derivative causality assignment of the storage elements of the system. This result allows the symbolic determination of the steady state of systems modelled by bond graphs. The proposed procedure to a class of nonlinear systems, i.e., planar robots is applied. However, this methodology for electrical machines can be used．