Title :
A multistage-approach to the dynamics and control of elastic robots
Author :
Pfeiffer, F. ; Gebler, B.
Author_Institution :
Dept. of Mech. Eng., Tech. Univ., Munich, West Germany
Abstract :
The control of an elastic robot along a reference trajectory is performed in several steps. An optimal reference path for a rigid robot is generated, taking into account any restrictions and arbitrary robot/trajectory configurations. Tracking of that path is improved by regarding the elastic influences of all links and joints. For the purpose the robot is modeled as an elastic multibody system. A control scheme is added which feeds back strain-gauge measurements at the elastic arms to damp remaining oscillations. These three stages together allow high performance control of an elastic robot, which is proven by measurements at a three-degree-of-freedom laboratory robot
Keywords :
control system analysis; dynamics; position control; robots; damping; dynamics; elastic arms; elastic multibody system; elastic robots; joints; links; path tracking; trajectory; Arm; Control systems; Deformable models; Elasticity; Equations; Feeds; Mechanical engineering; Robot control; Strain control; Strain measurement;
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.1988.12015
