Nonlinear Control of a Flexible One-Arm Robot

Description

Light-weight structural elements are the demand of the increasing speed of manipulators. The decreasing stiffness of the arms of the robots causes structural vibrations which lead to long waiting time at the end position. One way to overcome this difficulty is the usage of well damped materials. Another one is to include the elastic properties of the robot into the mechanical model and to design the proper control system. The paper is concerned with the second way.

Period	29 May 1996
Event title	First European Conference on Structural Control
Event type	Conference
Location	SpainShow on map