Modeling and Control of a Bending Backwards Industrial Robot
2003 (English)Report (Other academic)
In this work we have looked at various parts of modeling of robots. First the rigid body motion is studied, spanning from kinematics to dynamics and path and trajectory generation. We have also looked into how to extend the rigid body model with flexible gear-boxes and how this could be incorporated with Robotics Toolbox. A very simple feedforward control based on the rigid model is applied in addition to PID control and in the simulations the overshoot is halved compared to only PID control. We have also tried LQ control and in our simulations the effect of torque disturbances on the arm has been lowered by a factor five, compared to diagonal PID controllers.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , 38 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2522
Modeling, Control, Robotics, Bend-over-backwards capability, Mechanical flexibilities
IdentifiersURN: urn:nbn:se:liu:diva-55809ISRN: LiTH-ISY-R-2522OAI: oai:DiVA.org:liu-55809DiVA: diva2:316521