DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chang, Dong Eui | ko |
dc.contributor.author | Jeon, Soo | ko |
dc.date.accessioned | 2017-03-28T05:37:16Z | - |
dc.date.available | 2017-03-28T05:37:16Z | - |
dc.date.created | 2017-02-13 | - |
dc.date.created | 2017-02-13 | - |
dc.date.issued | 2013-12 | - |
dc.identifier.citation | JOURNAL OF NONLINEAR SCIENCE, v.23, no.6, pp.1023 - 1038 | - |
dc.identifier.issn | 0938-8974 | - |
dc.identifier.uri | http://hdl.handle.net/10203/220770 | - |
dc.description.abstract | The damping-induced self-recovery phenomenon refers to the fundamental property of underactuated mechanical systems: if an unactuated cyclic variable is under a viscous damping-like force and the system starts from rest, then the cyclic variable will always move back to its initial condition as the actuated variables come to a stop. The regular momentum conservation phenomenon can be viewed as the limit of the damping-induced self-recovery phenomenon in the sense that the self-recovery phenomenon disappears as the damping goes to zero. This paper generalizes the past result on damping-induced self-recovery for the case of a single unactuated cyclic variable to the case of multiple unactuated cyclic variables. We characterize a class of external forces that induce new conserved quantities, which we call the damping-induced momenta. The damping-induced momenta yield first-order asymptotically stable dynamics for the unactuated cyclic variables under some conditions, thereby inducing the self-recovery phenomenon. It is also shown that the viscous damping-like forces impose bounds on the range of trajectories of the unactuated cyclic variables. Two examples are presented to demonstrate the analytical discoveries: the planar pendulum with gimbal actuators and the three-link planar manipulator on a horizontal plane. | - |
dc.language | English | - |
dc.publisher | SPRINGER | - |
dc.title | On the Damping-Induced Self-Recovery Phenomenon in Mechanical Systems with Several Unactuated Cyclic Variables | - |
dc.type | Article | - |
dc.identifier.wosid | 000327464900004 | - |
dc.identifier.scopusid | 2-s2.0-84890433086 | - |
dc.type.rims | ART | - |
dc.citation.volume | 23 | - |
dc.citation.issue | 6 | - |
dc.citation.beginningpage | 1023 | - |
dc.citation.endingpage | 1038 | - |
dc.citation.publicationname | JOURNAL OF NONLINEAR SCIENCE | - |
dc.identifier.doi | 10.1007/s00332-013-9177-2 | - |
dc.contributor.localauthor | Chang, Dong Eui | - |
dc.contributor.nonIdAuthor | Jeon, Soo | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Mechanical system | - |
dc.subject.keywordAuthor | Cyclic variable | - |
dc.subject.keywordAuthor | Viscous damping | - |
dc.subject.keywordAuthor | Self-recovery | - |
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