Title :
Hierarchical control of flexible robots
Author :
Hermle, M. ; Schiehlen, W.
Author_Institution :
Inst. B of Mech., Univ. of Stuttgart, Stuttgart, Germany
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.
Keywords :
decentralised control; flexible manipulators; linear systems; SCARA robot; decentralized linear control; flexible link; flexible manipulators; hierarchical control; multibody system method; Actuators; Joints; Manipulators; Mathematical model; Robot sensing systems; Trajectory; flexible robots; hierarchical control; robot control;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
