Automated generation of reference dynamicalmodels for constrained robotic systems in the presence of friction and damping effects

摘要

This paper details a new automated generation method of dynamic models of structures allowing presence of friction and damping in their models as well as subjected to position or kinematic constraints. The constraintsmay be material, which come from the system interaction with environment, or may be programmed. The novelty of the presented dynamics generation method is to include friction and damping into modeling and to require predefined constraint satisfaction as well. The latter requirement is critical, since when friction and damping are neglected, controllersmay be inadequately designed, constraintsmay be violated, and overall system performancemay be poor. The developed method is applied to a manipulatormodel,whose end-effector performance is predefined by programmed constraints. Simulation results present manipulator constrained motion. The advantage of this method is that it serves both reference and control oriented dynamics derivation, and the final dynamics models are obtained in the reduced state form, ie, constraint reaction forces are eliminated.This is the fundamental difference between the presented approach and the Lagrange based approaches to constrained systemmodeling.