DocumentCode
3079047
Title
Path and force control of elastic manipulators
Author
Pfeiffer, Friedrich G.
Author_Institution
Lehrstruhl B fuer Mechanik, Tech. Univ. Munchen, Germany
fYear
1990
fDate
5-7 Dec 1990
Firstpage
514
Abstract
Path and force control for a manipulator with elastic links and joints is performed by a feedforward and a feedback loop, where the first one contains optimal reference generation including the influence of stationary elastic deviations and the second one includes joint control and active damping of all elastic vibrations. Elastic effects are assumed to be small. Control criteria are damping and controllability for the elastic vibrations. Theory and measurement at a three-axis robot compare very well
Keywords
controllability; damping; force control; position control; robots; active damping; controllability; elastic manipulators; elastic vibrations; feedback loop; feedforward; force control; joint control; path control; robots; Controllability; Damping; Elasticity; Feedback control; Force control; Grippers; Nonlinear equations; Optimal control; Robots; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location
Honolulu, HI
Type
conf
DOI
10.1109/CDC.1990.203650
Filename
203650
Link To Document