Abstract
This paper examines a linearisation algorithm developed for the nonlinear dynamics of the FutureForge manipulator - part of a state-of-the-art forging platform being built in Glasgow, Scotland. Building on previous work, the authors investigate means of obtaining approximate analytical solutions for the highly nonlinear system with a view to developing a practical control system in future work. This is done by a combination of algebraic approximation methods, a practical understanding of the machine’s operating characteristics, as well as the application of a perturbation method. The devised method is verified by comparing the resulting approximate analytical solutions with numerical solutions to the nonlinear problem.
Original language | English |
---|---|
Pages | 774-783 |
Number of pages | 10 |
Publication status | Published - 20 Jul 2022 |
Event | 10th European Nonlinear Dynamics Conference - Lyon, France Duration: 17 Jul 2022 → 22 Jul 2022 |
Conference
Conference | 10th European Nonlinear Dynamics Conference |
---|---|
Abbreviated title | ENOC 2022 |
Country/Territory | France |
City | Lyon |
Period | 17/07/22 → 22/07/22 |
Keywords
- linearisation
- industrial manipulators
- nonlinear dynamics