Abstract:Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-efficient control targets. Yet, solutions non-trivially depend on system parameters, obscuring feasible properties for use as target trajectories. For periodic regulation tasks in robotics applications, we investigate properties of nonlinear oscillations collected in Lyapunov subcenter manifolds (LSMs) of conservative mechanical systems (CMs). Using a time-symmetry of CMs, it is shown that mild non-resonance conditions guarantee that LSMs exclusively consist of oscillations between two points of zero velocity. The existence of a unique generator is proven, which is a connected, 1D manifold that collects these points of zero velocity for a given LSM. Furthermore, it is shown that an additional spatial symmetry provides LSMs with yet stronger properties of Rosenberg manifolds. Here all oscillations pass through a unique equilibrium configuration, which can be favorable for control applications. These theoretical results are numerically confirmed on two mechanical systems: a double pendulum and a 5-link pendulum.
From: Yannik Wotte [view email]
[v1]
Mon, 19 May 2025 12:54:03 UTC (726 KB)
[v2]
Thu, 8 Jan 2026 10:38:35 UTC (668 KB)
[v3]
Mon, 2 Mar 2026 12:00:24 UTC (671 KB)
[v4]
Thu, 20 Aug 2026 10:08:17 UTC (677 KB)
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