{"title":"Model Inversion of a Two Degrees of Freedom Linearized PUMA from Bicausal Bond Graphs","authors":"Gilberto Gonzalez-A, Ignacio Rodr\u00edguez- A., Dunia Nu\u00f1ez-P","volume":69,"journal":"International Journal of Electrical and Computer Engineering","pagesStart":1046,"pagesEnd":1052,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/15119","abstract":"A bond graph model of a two degrees of freedom\r\nPUMA is described. System inversion gives the system input\r\nrequired to generate a given system output. In order to get the system\r\ninversion of the PUMA manipulator, a linearization of the nonlinear\r\nbond graph is obtained. Hence, the bicausality of the linearized bond\r\ngraph of the PUMA manipulator is applied. Thus, the bicausal bond\r\ngraph provides a systematic way of generating the equations of the\r\nsystem inversion. Simulation results to verify the calculated input for\r\na given output are shown.","references":"[1] Mark W. Spong and M. Vidyasagar, \"Robot Dynamics and Control\",\r\nJohn Wiley & Sons, 1989.\r\n[2] V. Damic and J. Montgomery, \"Mechatronics by Bond Graphs\",\r\nSpringer, 2003.\r\n[3] Dean C. Karnopp, Donald L. Margolis and Ronald C. Rosenberg,\r\n\"System Dynamics Modeling and Simulation of Mechatronic Systems\",\r\nJohn Wiley & Sons, 2000.\r\n[4] P. E. Wellstead, \"Physical System Modelling\", Academic Press,\r\nLondon, 1979.\r\n[5] C. Sueur and G. Dauphin-Tanguy, \"Bond graph approach for structural\r\nanalysis of MIMO linear systems\", Journal of the Franklin Institute, Vol.\r\n328, No. 1, pp. 55-70, 1991.\r\n[6] Peter Gawthrop and L. Smith, \"Metamodelling\", Prentice-Hall, 1996.\r\n[7] M. J. L. Tiernego, J. J. Dixhoorn, \"Three Axis Platform Simulation:\r\nBond Graph and Lagrangian Approach\", Journal of the Franklin\r\nInstitute, Vol. 308, No. 1\/2, pp. 157-171, 1985.\r\n[8] A. Zeid, Ch. H. Chung, \"Bond Graph Modelling of Multibody System: a\r\nLibrary of Three dimensional Joints\", Journal of the Franklin .Institute,\r\nVol. 329, No. 4, pp. 605-636, 1992.\r\n[9] D. Karnopp, \"Understanding Multibody Dynamics using Bond Graph\r\nRepresentations\", Journal of the Franklin Institute, Vol. 334B, No. 4,\r\npp. 631-642, 1997.\r\n[10] L. M. Silverman, \"Inversion of multivariable linear systems\", IEEE\r\nTrans. Automat. Contr., Vol. AC-14, No. 3, pp. 270-276, June, 1969.\r\n[11] P. J. Gawthrop, \"Bicausal bond graphs\", in Proceedings of the 1995\r\nInternational Conference on Bond Graph Modelling and Simulation:\r\nICBGM'95, pp. 83-88, 1995.\r\n[12] R. Fotsu Ngwompo, S. Scavarda and D. Thomasset, \"Inversion of\r\nLinear Time-invariant SISO Systems Modelled by Bond Graph\", Journal\r\nof the Franklin Institute, Vol. 333(B), No. 2, pp. 157-174, 1996.\r\n[13] Gilberto Gonzalez-A and R. Galindo, \"A Linearization Procedure for a\r\nClass of Nonlinear Systems Based on Bond Graph\", Proceedings of the\r\nInternational Mediterranean Modeling Multiconference, pp. 77-82,\r\n2005.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 69, 2012"}