Performance and Stability in High Speed Articulated Structures Undergoing Quick

摘要

The proposed research is divided into two phases. The first introduces the PUTD(Pseudo-Uptriangular-Decomposition) to reduce the governing equations of motion of articulated mechanical systems. This investigation proposes a new method, which allows the constrained systems to operate in the presence of singularities. This is achieved by regularization technique which makes use of a new representation of the kinematical and geometrical constraint equations at singular positions. This method of stability analysis is compared with the asymptotic stability presented by Baumgarte. The PUTD is extended to accommodate the dynamics of such systems. An illustration of the utility and effectiveness of the method proposed is shown through a two arm planar robot undergoing large motions and driven through singularities. The driving torques are then compared to check for discontinuities and jerks. The second phase of the research project set the stage for the testing of the proposed method when the articulated structures are composed of flexible bodies.