DocumentCode
700772
Title
Suboptimal control of an electromechanical robot with elastic link
Author
Mikhailov, S.A.
Author_Institution
Safely Control Eng., Univ. of Wuppertal, Wuppertal, Germany
fYear
1997
fDate
1-7 July 1997
Firstpage
2028
Lastpage
2032
Abstract
This paper evaluates the controlled plane motions of elastic manipulator with electrodrives. The dynamics of rotary motions of the last link of manipulator is considered within the framework of elastic beam model. Time-optimal control of rigid link system is considered taking into account electromagnetic processes in electrodrives. Different rational control functions are investigated. These rational control functions are implemented in elastic link model. Evaluation of accuracy and amplitude of residual vibration is done. Methods of increase of operational accuracy are considered.
Keywords
electromechanical actuators; manipulators; optimal control; controlled plane motions; elastic beam model; elastic link; elastic manipulator; electrodrives; electromagnetic processes; electromechanical robot; rational control functions; residual vibration; rigid link system; rotary motions; suboptimal control; time-optimal control; Bang-bang control; Manipulator dynamics; Switches; Vibrations; flexible structures; robotics; vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082403
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