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A DAE approach to feedforward control of flexible manipulators
KTH, School of Engineering Sciences (SCI), Solid Mechanics (Dept.).
2007 (English)In: 2007 IEEE International Conference on Robotics and Automation Conference, IEEE , 2007, 3439-3444 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
Differential equations, Feedforward control, Industrial robots, Inverse problems, Problem solving
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-155554DOI: 10.1109/ROBOT.2007.364004ISI: 000250915303076Scopus ID: 2-s2.0-36348933932ISBN: 1424406021 (print)ISBN: 978-142440602-9 OAI: oai:DiVA.org:kth-155554DiVA: diva2:762356
Conference
2007 IEEE International Conference on Robotics and Automation, ICRA'07, 10 April 2007 through 14 April 2007, Rome, Italy
Note

QC 20141111

Available from: 2014-11-11 Created: 2014-11-07 Last updated: 2014-11-11Bibliographically approved

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Total: 11 hits
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Citation style
  • apa
  • harvard1
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf