liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
A DAE Approach to Feedforward Control of Flexible Manipulators
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB, Sweden.
2007 (English)In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation, IEEE , 2007, 3439-3444 p.Conference paper (Refereed)
Abstract [en]

This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic equation (DAE). A simulation example for an elastic two axis planar robot is also included and shows promising results.

Place, publisher, year, edition, pages
IEEE , 2007. 3439-3444 p.
Keyword [en]
Differential algebraic equations, Feedforward, Flexible manipulators, Industrial robots, Inverse problems
National Category
Engineering and Technology Control Engineering
URN: urn:nbn:se:liu:diva-12853DOI: 10.1109/ROBOT.2007.364004ISBN: 1-4244-0602-1ISBN: 1-4244-0601-3OAI: diva2:17209
2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April, 2007
Available from: 2008-01-07 Created: 2008-01-07 Last updated: 2013-12-04
In thesis
1. On Modeling and Control of Flexible Manipulators
Open this publication in new window or tab >>On Modeling and Control of Flexible Manipulators
2007 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.

This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.

The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.

The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.

Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.

Place, publisher, year, edition, pages
Institutionen för systemteknik, 2007. 146 p.
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1336
System identification, multivariable systems, differential-algebraic equations, robots, manipulators, flexible structures, robustness, position control, nonlinear systems, closed-loop identification, frequency-response methods, industrial robots, robotics, control, feedforward, flexible arms
National Category
Control Engineering
urn:nbn:se:liu:diva-10463 (URN)978-91-85895-29-8 (ISBN)
2007-12-19, Visionen, Hus B, Campus Valla, Linköpings Universitet, Linköping, 10:15 (English)
Available from: 2008-01-07 Created: 2008-01-07 Last updated: 2009-05-08

Open Access in DiVA

No full text

Other links

Publisher's full textLink to Licentiate Thesis

Search in DiVA

By author/editor
Moberg, Stig
By organisation
Automatic ControlThe Institute of Technology
Engineering and TechnologyControl Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 99 hits
ReferencesLink to record
Permanent link

Direct link