A DAE approach to feedforward control of flexible manipulators
2007 (English)In: 2007 IEEE International Conference on Robotics and Automation Conference, IEEE , 2007, 3439-3444 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
IEEE , 2007. 3439-3444 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Differential equations, Feedforward control, Industrial robots, Inverse problems, Problem solving
IdentifiersURN: urn:nbn:se:kth:diva-155554DOI: 10.1109/ROBOT.2007.364004ISI: 000250915303076ScopusID: 2-s2.0-36348933932ISBN: 1424406021ISBN: 978-142440602-9OAI: oai:DiVA.org:kth-155554DiVA: diva2:762356
2007 IEEE International Conference on Robotics and Automation, ICRA'07, 10 April 2007 through 14 April 2007, Rome, Italy
QC 201411112014-11-112014-11-072014-11-11Bibliographically approved