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Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow — arXiv:2609.04817

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.04817
License (as archived): CC0-1.0
Archived: 2026-10-16T23:49:41.040Z
SHA-256 of the archived text: 6122f08089ca0acbbea938284886036a16ce809a4dc5f5d4e9d86f28816bdc27
Stable URL of this page: https://metraipolis.com/documento/dc_ed211e2e014a

How to cite

Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow — arXiv:2609.04817 — arXiv (en), https://arxiv.org/abs/2609.04817 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ed211e2e014a (Metraipolis archive dc_ed211e2e014a, sha256 6122f08089ca0acbbea938284886036a16ce809a4dc5f5d4e9d86f28816bdc27)

BibTeX

@misc{dced211e2e014a,
  title = {Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow — arXiv:2609.04817},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.04817},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ed211e2e014a; sha256 6122f08089ca0acbbea938284886036a16ce809a4dc5f5d4e9d86f28816bdc27},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.04817. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical systems. However, a strict normal mode will generally be an isolated curve within the configuration space of the system. In this letter, we design a potential that will densely fill the configuration space with strict normal modes such that each configuration belongs to one mode and each mode passes through a common point, the equilibrium. As the potential can be realized by (nonlinear) elastic elements it can be used to execute a variety of periodic trajectories very efficiently. Most of the required torques will come from the elastic elements in the system and not from the actuators. We also design a controller stabilizing the system to a desired target mode and a controller performing swing-up and compensating dissipated energy. Finally, we showcase the approach for a two DoF manipulator. The experiments show that the approach performed well for the example system.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-07 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.04817 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-16T23:21:38.636Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-07?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).