A DAE Approach to Feedforward Control of Flexible Manipulators
2007 (English)In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation, IEEE , 2007, 3439-3444 p.Conference paper (Refereed)
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.
Differential algebraic equations, Feedforward, Flexible manipulators, Industrial robots, Inverse problems
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-12853DOI: 10.1109/ROBOT.2007.364004ISBN: 1-4244-0602-1ISBN: 1-4244-0601-3OAI: oai:DiVA.org:liu-12853DiVA: diva2:17209
2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April, 2007