Title :
Formulation of a state-space model for a parallel manipulator using linear graphs
Author :
Shujun Gao ; De Silva, Clarence W.
Author_Institution :
Dept. of Mech. Eng., Univ. of British Columbia, Vancouver, BC, Canada
Abstract :
Linear graphs (LGs) present a unified tool for modeling multi-domain dynamic engineering systems. A state space model can be systematically obtained from the LG representation, which is based on energy flow. However, LGs based on energy/power flow cannot properly describe multi-dimensional mechanical systems, while an LG representation of multi-dimensional mechanical systems may not generate a state space model. This paper integrates the two types of LG representation to formulate a state space model for a multidomain engineering system, thereby by heading for a new direction in modeling with LGs.
Keywords :
graph theory; industrial manipulators; manipulator dynamics; multidimensional systems; state-space methods; LG representation; energy flow; linear graphs; multidimensional mechanical systems; multidomain dynamic engineering systems; parallel manipulator; power flow; state-space model; Computational modeling; Computers; Frequency modulation; Laboratories; Mechanical systems; Shock absorbers; Springs; Linear graphs; energy flow; manipulator modeling; multi-dimensional systems; multi-domain systems; state space model;
Conference_Titel :
Computer Science & Education (ICCSE), 2014 9th International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
978-1-4799-2949-8
DOI :
10.1109/ICCSE.2014.6926444
