Akrom Magzumov

3 Questions 4 Answers 0 Followers

Questions related from Akrom Magzumov

How to write optimization algorithm to reduce the output torque by manipulating LINEAR stiffness in joint in case of unknown model?

The problem is this: there is model of robot, created in Simscape. And knee of this robot is made of "pin-slot-joint", which allows one transnational and one rotational degree of freedom. In...

10 February 2020 5,360 2 View

What is the dynamics function of Pin-Slot-Joint in Simscape?

For me it is necessary to add MPC controller in order to regulate (minimize) power in pin slot joint, produced by torque. But the problem is: How to understand the dynamic function of internal...

01 February 2020 473 3 View

What should be done if controlled input is in "A" state matrix?

Dear All There is 1-DOF Series Elastic Actuator(the scheme and state equation is given in the image). A=[0 1; -K/m 0] B= [0 -1/m]*F where K is the stifness constant of the spring, m is the...

09 October 2019 9,254 5 View