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Modeling and Control of a Bending Backwards Industrial Robot
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.
2003 (English)Report (Other academic)
Abstract [en]

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.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2522
Keyword [en]
Modeling, Control, Robotics, Bend-over-backwards capability, Mechanical flexibilities
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55809ISRN: LiTH-ISY-R-2522OAI: oai:DiVA.org:liu-55809DiVA: diva2:316521
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Wernholt, ErikÖstring, Måns

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf