Title :
A DAE approach to Feedforward Control of Flexible Manipulators
Author :
Moberg, Stig ; Hanssen, Sven
Author_Institution :
Dept. of Electr. Eng., Linkopings Universitet, Linkoping
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364004
