A New Approach to Modelling and Control of Flexible Manipulators
2007 (English)Report (Other academic)
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.
LiTH-ISY-R, ISSN 1400-3902 ; 2769
Robotics, Manipulators, Control, Feedforward, Flexible arms, Differential-algebraic equations
IdentifiersURN: urn:nbn:se:liu:diva-55818ISRN: LiTH-ISY-R-2769OAI: oai:DiVA.org:liu-55818DiVA: diva2:316513