Another Language for Describing Robot Motions: A Nonlinear Position-dependent Circuit Theory

摘要: Dynamics and control of nonlinear mechanical advanced mechatronic systems can be investigated more vividly efficiently by using corresponding position-dependent circuits that describe Lagrange’s equations motions interactions with objects or/and task environments. Such expressions via are indebted to lumped-parameter discretization as a set rigid bodies through motion due Newton’s second law. This observation is quite analogous validity electric derived versions Maxwell’s electromagnetic waves. Couplings mechanic actuator dynamcis also discussed. In such electromechanical the passivity should generalization impedance concept in order cope nonlinearities play crucial role their related problems. particular, it shown an input-output property gives rise necessary sufficient characterization H ∞-tuning for disturbance attenuation robotic systems, which give another system-theoretic interpretation energy conservation