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dc.contributor.authorJardón-Kojakhmetov, Hildeberto
dc.contributor.authorMuñoz-Arias, Mauricio
dc.contributor.authorScherpen, Jacquelien
dc.date.accessioned2018-06-21T21:02:23Z
dc.date.available2018-06-21T21:02:23Z
dc.date.issued2016
dc.identifierhttps://www.sciencedirect.com/science/article/pii/S2405896316318493?via%3Dihubes
dc.identifier.citationJardón-Kojakhmetov, H., Muñoz-Arias, M., & Scherpen, J. (2016). Model reduction of a flexible-joint robot: a port-Hamiltonian approach. IFAC-PapersOnLine 49(18),832–837es
dc.identifier.urihttps://hdl.handle.net/2238/9809
dc.descriptionArtículo científicoes
dc.description.abstractIn 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.es
dc.language.isoenges
dc.publisherIFAC-PapersOnLinees
dc.relation.hasversion10.1016/j.ifacol.2016.10.269es
dc.sourceIFAC-PapersOnLinees
dc.subjectRobotses
dc.subjectMetodologíaes
dc.subjectEcuacioneses
dc.subjectModeloses
dc.subjectResearch Subject Categories::TECHNOLOGY::Information technology::Computer science::Cognitive sciencees
dc.titleModel reduction of a flexible-joint robot: a port-Hamiltonian approaches
dc.typeartículo originales


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