Title :
Tracking control of flexible robot arms
Author :
Arteaga, Marco A.
Author_Institution :
Dept. of Meas. & Control, Univ. of Duisburg, Duisburg, Germany
Abstract :
A controller for solving the tracking problem of flexible robot arms with revolute joints is presented. In order to achieve this goal, the desired trajectory for the link (the flexible) coordinates is computed from the model of the robot arm. while the desired one for the joint (the rigid) coordinates can be assigned arbitrarily. The case of no structural damping is also considered.
Keywords :
dexterous manipulators; robust control; trajectory control; flexible robot arms; joint coordinates; link coordinates; revolute joint; structural damping; tracking control; Damping; Gravity; Joints; Manipulators; Robot kinematics; Trajectory; Robotics; nonlinear control; robust control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
