设计可密集分布正则振荡模式的势能，实现高效周期运动控制。
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow
- 构建与测地流相容的势能，使每个构型都属于一个严格模态。
- 所有模态通过平衡点，系统所需驱动力矩主要来自弹性元件。
- 适用于需要高效周期轨迹的机械系统，如双自由度机械臂。
严格非线性模态在保守力学系统中提供高度规则的振荡族。然而，严格模态通常仅在配置空间中表现为孤立曲线。本文设计了一种势能，使严格模态密集填充整个配置空间，使得每个构型均属于一个模态，且每个模态都通过平衡点。该势能可通过非线性弹性元件实现，可用于高效执行多种周期轨迹；大部分所需扭矩由系统中的弹性元件提供，而非驱动器。此外，设计了控制器以将系统稳定至目标模态，并实现摆起及耗散能量补偿。最后，在一个双自由度机械臂上验证了该方法，实验表明其对示例系统表现良好。
原文摘要 · Abstract (English)
Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical systems. However, a strict normal mode will generally be an isolated curve within the configuration space of the system. In this letter, we design a potential that will densely fill the configuration space with strict normal modes such that each configuration belongs to one mode and each mode passes through a common point, the equilibrium. As the potential can be realized by (nonlinear) elastic elements it can be used to execute a variety of periodic trajectories very efficiently. Most of the required torques will come from the elastic elements in the system and not from the actuators. We also design a controller stabilizing the system to a desired target mode and a controller performing swing-up and compensating dissipated energy. Finally, we showcase the approach for a two DoF manipulator. The experiments show that the approach performed well for the example system.
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