Overview
| Comment: | Added a discussion of the relevance of G(s). |
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| User & Date: | gawthrop@users.sourceforge.net on 1998-01-19 09:57:26 |
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Context
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1998-01-19
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| 10:08:21 | Added comment about linearisation point check-in: c5b3d1485b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 09:57:26 | Added a discussion of the relevance of G(s). check-in: 359bab5f7b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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1998-01-16
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| 14:56:59 |
Argument now correctely recognised as a string beginning with - (rather than containing -) check-in: e7e06d7c0f user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex from [d924cd46a0] to [6ab02e3a86].
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% Verbal description for system itwolink (itwolink_desc.tex)
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The acausal bond graph of system \textbf{itwolink} is
displayed in Figure \Ref{itwolink_abg} and its label
file is listed in Section \Ref{sec:itwolink_lbl}.
The subsystems are listed in Section \Ref{sec:itwolink_sub}.
This example illustrates the inversion of two link manipulator
dynamics using two identical simple mass-spring-damper systems as
specification systems.
The velocities $\omega_1=\omega_2$ specified by the specification
systems are given in Figure \Ref{fig:itwolink_odeso.ps-itwolink-t1s}
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% Verbal description for system itwolink (itwolink_desc.tex)
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% Revision 1.1 1997/12/09 16:53:27 peterg
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The acausal bond graph of system \textbf{itwolink} is
displayed in Figure \Ref{itwolink_abg} and its label
file is listed in Section \Ref{sec:itwolink_lbl}.
The subsystems are listed in Section \Ref{sec:itwolink_sub}.
This example illustrates the inversion of two link manipulator
dynamics using two identical simple mass-spring-damper systems as
specification systems.
The velocities $\omega_1=\omega_2$ specified by the specification
systems are given in Figure \Ref{fig:itwolink_odeso.ps-itwolink-t1s}
together with the input defined in Section \Ref{sec:itwolink_input.txt}.
The torques $\tau_1$ and $\tau_2$ required to give the these
velocities specified by the specification system are given in Figures
\Ref{fig:itwolink_odeso.ps-itwolink-t1} and
\Ref{fig:itwolink_odeso.ps-itwolink-t2} respectively.
The corresponding velocity/torque diagrams for joints 1 and 2 appear in
Figures \Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1}
\Ref{fig:itwolink_odeso.ps-itwolink-t2s:itwolink-t2} respectively.
Such diagrams can be used for actuator sizing in terms of torque,
velocity and power.
This non-linear system can be linearised (about the various
configurations) and small-signal frequency response methods applied.
For example, the four transfer functions $G_11$ to $G_22$ in Section
\Ref{sec:itwolink_tf}, give the small-signal relations between the two
spec. torques and the required system torques. Used together with
$G_31$ and $G_42$ (relating the spec. torques and the joint
velocities) gives, in principle, a method for evaluating actuator
requirements (for small signals) as a function of frequency.
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