Inversion techniques for trajectory control of flexible robot arms
نویسندگان
چکیده
منابع مشابه
Inversion techniques for trajectory control of flexible robot arms
A general framework is given for computing the torques that are needed for moving a flexible arm exactly along a given trajectory. This torque computation requires a dynamic generator system, as opposed to the rigid case, and can be accomplished both in an openor in a cbsed-loop fashion. In the open-loop case, the dynamic generator is the full or reduced order inverse system associated to the a...
متن کاملInversion-Based Nonlinear Control of Robot Arms with Flexible Links
The design of inversion-based nonlinear control laws solving the problem of accurate trajectory tracking for robot arms having flexible links is considered. It is shown that smooth joint trajectories can always be exactly reproduced preserving internal stability of the closed-loop system. The interaction between the Lagrangian/assumed modes modeling approach and the complexity of the resulting ...
متن کاملOverwhelming Trajectory Control of Flexible Space Robot
This paper presents a trajectory tracking control method for flexible space robot. The advantage of the method is that it is free from spill-over instability as it uses a robust overwhelming trajectory controller. The proposed controller is conceptualized for a single rotational degree of freedom case. The efficacy of the scheme is illustrated by simulation results. The stability analysis of th...
متن کاملForcefree Control for Flexible Motion of Industrial Articulated Robot Arms
Many industrial robot arms are operated in industry, and some robotic applications in the industry, such as a pulling-out of products made by die casting, require the flexible motion excited by an external force. Here, the flexible motion means that the robot arm moves passively according to the external force. Industrial robot arms, however, are difficult to be moved by the external force beca...
متن کاملShear force feedback control of flexible robot arms
For flexible robots with rotational joints it has been shown previously, by the first author, that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arising from structural flexibility of robots of Cartesian or SCARA types. Closed-loop exponent...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Robotic Systems
سال: 1989
ISSN: 0741-2223,1097-4563
DOI: 10.1002/rob.4620060403