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Publikācija: On Designing Optimal Trajectories for Servo-Actuated Mechanisms through Highly Detailed Virtual Prototypes

Publication Type Full-text conference paper published in conference proceedings indexed in SCOPUS or WOS database
Funding for basic activity Unknown
Defending: ,
Publication language English (en)
Title in original language On Designing Optimal Trajectories for Servo-Actuated Mechanisms through Highly Detailed Virtual Prototypes
Field of research 2. Engineering and technology
Sub-field of research 2.2 Electrical engineering, Electronic engineering, Information and communication engineering
Authors Marcello Pellicciari
Giovanni Berselli
Federico Balugani
Dāvis Meike
Francesco Leali
Keywords Virtual Prototyping, Trajectory Generation, Servo-Actuated Mechanism
Abstract Servo-actuated mechanisms are increasingly substituting fully mechanical drives in order to increase flexibility and reconfigurability of modern automatic machines. The overall servomechanism performance, especially in the case of high-dynamic motions, is the direct consequence of several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, Point-To-Point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for generating either energy-optimal or torque-optimal PTP motions described by piecewise fifth-order polynomials. The optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that betterbehaved PTP trajectories can be designed by including the dynamic contribution of each sub-system component.
DOI: 10.1109/AIM.2013.6584355
Hyperlink: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6584355 
Reference Pellicciari, M., Berselli, G., Balugani, F., Meike, D., Leali, F. On Designing Optimal Trajectories for Servo-Actuated Mechanisms through Highly Detailed Virtual Prototypes. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013): Proceedings, Australia, Wollongong, 9-12 July, 2013. Piscataway: IEEE, 2013, pp.1780-1785. ISBN 978-1-4673-5319-9. ISSN 2159-6247. Available from: doi:10.1109/AIM.2013.6584355
Additional information Citation count:
ID 16163