Title :
Computed torque for the position control of open-chain flexible robots
Author_Institution :
Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
A technique is presented for the solution of the inverse dynamics of open-chain flexible robots. The proposed method finds the joint torques necessary to produce a specified end-effector motion. The formulation includes all the nonlinear terms due to the large rotation of the links, together with Timoshenko beam theory to model their elastic characteristics. The finite-element method is used to discretize the equations of motion. The performance and capabilities of this technique are tested through a simulation analysis. Results show the potential of the method not only for feedforward control, but also for incorporation in feedback control strategies
Keywords :
dynamics; finite element analysis; large-scale systems; position control; robots; Timoshenko beam theory; computed torque; elastic characteristics; end-effector motion; feedback control; feedforward control; finite-element method; inverse dynamics; joint torques; link rotation; nonlinear terms; open-chain flexible robots; position control; Analytical models; End effectors; Finite element methods; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Open loop systems; Position control; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12067
