Abstract
This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well as to reject disturbances, which act on the flexible arm. The controller design is based on two approaches. A flatness-based feedforward control takes care of the tracking behaviour, and a passivity-based feedback law stabilizes the trajectories and suppresses the elastic vibrations.
| Original language | English |
|---|---|
| Pages (from-to) | 141-142 |
| Number of pages | 2 |
| Journal | PAMM - Proceedings in Applied Mathematics and Mechanics |
| Volume | 4 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Dec 2004 |
Fields of science
- 101028 Mathematical modelling
- 202 Electrical Engineering, Electronics, Information Engineering
- 202003 Automation
- 202017 Embedded systems
- 202027 Mechatronics
- 202034 Control engineering
- 203015 Mechatronics