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A New Approach to Modelling and Control of Flexible Manipulators
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2007 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2007. , 10 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2769
Keyword [en]
Robotics, Manipulators, Control, Feedforward, Flexible arms, Differential-algebraic equations
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55818ISRN: LiTH-ISY-R-2769OAI: oai:DiVA.org:liu-55818DiVA: diva2:316513
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-08Bibliographically approved

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Moberg, Stig

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Citation style
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  • de-DE
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  • en-US
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  • nn-NB
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  • Other locale
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Output format
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