Model reduction of a flexible-joint robot: a port-Hamiltonian approach

Scherpen, Jacquelien
Muñoz-Arias, Mauricio
Jardón-Kojakhmetov, Hildeberto

2018-06-21T21:02:23Z

Jardón-Kojakhmetov, H., Muñoz-Arias, M., & Scherpen, J. (2016). Model reduction of a flexible-joint robot: a port-Hamiltonian approach. IFAC-PapersOnLine 49(18),832–837

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Artículo científico

In this paper we explore the methodology of model order reduction based on singular perturbations for a flexible-joint robot within the port-Hamiltonian framework. We show that a flexible-joint robot has a port-Hamiltonian representation which is also a singularly perturbed ordinary differential equation. Moreover, the associated reduced slow subsystem corresponds to a port-Hamiltonian model of a rigid-joint robot. To exploit the usefulness of the reduced models, we provide a numerical example where an existing controller for a rigid robot is implemented.

Robots; Metodología; Ecuaciones; Modelos; Research Subject Categories::TECHNOLOGY::Information technology::Computer science::Cognitive science;