Title :
Bond graph methodology for the design of an actuating system: application to a two-link manipulator
Author :
Fotsu-Ngwompo, R. ; Scavarda, S. ; Thomasset, D.
Author_Institution :
Lab. d´´Autom. Ind., Inst. Nat. des Sci. Appliquees, Villeurbanne, France
Abstract :
This paper presents a method for the design of an actuating system, and focuses particularly on determining the size of the components for proper operation of the overall system based on dynamic and energy criteria. The bond graph representation is used to keep a physical-based approach and in order to carry out structural analysis on the system. The proposed method is then applied to validating the actuators of a two-link manipulator for a specified trajectory
Keywords :
actuators; bond graphs; control system synthesis; graph theory; inverse problems; manipulator dynamics; actuating system; actuators; bond graph representation; dynamics; energy criteria; structural analysis; two-link manipulator; Actuators; Bonding; Control systems; Design methodology; Load flow; Manipulator dynamics; Power system interconnection; Power system modeling; Size control; System analysis and design;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.635303
