Title :
Modeling, control and optimization of a new telerobot
Author :
Schlotter, A. ; Pfeiffer, F.
Author_Institution :
Tech. Univ. Munchen, Germany
Abstract :
Deals with TELBOT, a telerobot with a special kinematic design. Due to its lightweight construction, an elastic multibody model of this robot is presented. Reduced to a rigid model for online computation, this model is implemented in a model based controller suitable for telerobots, where the trajectories are usually unknown a priori. The model also enables an optimization of the control coefficients of a conventional PID controller considering arbitrary cost functions. Simulation results are compared to measurements to verify the approach
Keywords :
CAD; finite element analysis; manipulator kinematics; optimisation; telerobotics; three-term control; TELBOT; control coefficients; conventional PID controller; elastic multibody model; kinematic design; lightweight construction; model based controller; rigid model; Arm; Computational modeling; Cost function; Gears; Grippers; Kinematics; Manipulators; Orbital robotics; Service robots; Three-term control;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846429
