Comparison of the assumed modes and finite element models for flexible multilink manipulators
International Journal of Robotics Research
SIAM Journal on Control and Optimization
Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-Free Approach
Modeling and IPC Control of Interactive Mechanical Systems: A Coordinate-Free Approach
Principles of Object-Oriented Modeling and Simulation with Modelica 2.1
Principles of Object-Oriented Modeling and Simulation with Modelica 2.1
Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach
SIAM Journal on Control and Optimization
Geometric Fundamentals of Robotics (Monographs in Computer Science)
Geometric Fundamentals of Robotics (Monographs in Computer Science)
System Dynamics: Modeling and Simulation of Mechatronic Systems
System Dynamics: Modeling and Simulation of Mechatronic Systems
Geometric integration on Euclidean group with application to articulated multibody systems
IEEE Transactions on Robotics
Port-Based Modeling of a Flexible Link
IEEE Transactions on Robotics
From particle-mass to multibody systems: graph-theoretic modeling
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Graph theoretic modeling and analysis of multibody planarmechanical systems
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Hamiltonian discretization of boundary control systems
Automatica (Journal of IFAC)
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In this paper, a systematic procedure for the definition of the dynamical model in port-Hamiltonian form of mechanical systems is presented as the result of the power-conserving interconnection of a set of basic components (rigid bodies, flexible links, and kinematic pairs). Since rigid bodies and flexible links are described within the port-Hamiltonian formalism, their interconnection is possible once a proper relation between the power-conjugated port variables is deduced. These relations are the analogous of the Kirchhoff laws of circuit theory. From the analysis of a set of oriented graphs that describe the topology of the mechanism, an automatic procedure for deriving the dynamical model of a mechanical system is illustrated. The final model is a mixed port-Hamiltonian system, because of the presence of a finite-dimensional subsystem (modeling the rigid bodies) and an infinite-dimensional one (describing the flexible links). Besides facilitating the deduction of the dynamical equations, it is shown howthe intrinsic modularity of this approach also simplifies the simulation phase.