DocumentCode
2629324
Title
A DAE approach to Feedforward Control of Flexible Manipulators
Author
Moberg, Stig ; Hanssen, Sven
Author_Institution
Dept. of Electr. Eng., Linkopings Universitet, Linkoping
fYear
2007
fDate
10-14 April 2007
Firstpage
3439
Lastpage
3444
Abstract
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.
Keywords
differential algebraic equations; feedforward; flexible manipulators; industrial robots; inverse problems; manipulator dynamics; differential algebraic equation; elastic robot structures; feedforward control; flexible manipulators; industrial robot; inverse dynamics problem; serial link elastic robot model; Automatic control; Differential algebraic equations; Elasticity; Gears; Industrial control; Manipulator dynamics; Robot control; Robotics and automation; Service robots; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364004
Filename
4209622
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