Title :
Vertical control for a 1DOF flexible robot based on a FEM model applicable for control-purposes
Author :
Nielsen, Henrik Skovsgaard ; Caspersent, Morten Keller
Author_Institution :
Dept. of Autom., Tech. Univ. of Denmark, Lyngby, Denmark
Abstract :
This paper presents a method of vertical feedback control for a 1DOF flexible robot. The control is based on a FEM model applicable for control purposes, where the chosen Generalized Coordinates (GC) are the curvatures at the nodal points where strain-gauges are placed. The control performs both dampening of vibrations and positioning of the tip. To obtain equilibrium in the whole workspace a curvature reference is generated online as a function of the joint-angle.
Keywords :
finite element analysis; flexible manipulators; position control; vibration control; 1DOF flexible robot; FEM model; GC; control purposes; curvature reference; flexible manipulator; generalized coordinates; joint-angle; nodal points; positioning; strain-gauges; vertical feedback control; vibrations; Finite element analysis; Gravity; Load modeling; Manipulators; Mathematical model; Payloads; Vibrations; Control; FEM; Flexible; Manipulator; Vertical;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
