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Port-Based Modeling and Simulation of Mechanical Systems With Rigid and Flexible Links

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3 Author(s)
Alessandro Macchelli ; Dept. of Electron., Comput. Sci. & Syst., Univ. of Bologna, Bologna, Italy ; Claudio Melchiorri ; Stefano Stramigioli

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 how the intrinsic modularity of this approach also simplifies the simulation phase.

Published in:

IEEE Transactions on Robotics  (Volume:25 ,  Issue: 5 )