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


Artículo científicoIn 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

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Repositorio Institucional del Instituto Tecnologico de Costa Rica

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oaioai:repositoriotec.tec.ac.cr:2238/9809Last time updated on 7/10/2018View original full text link

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