Nichtlineare Regelung eines starr-elastischen Balkensystems

Light-weight structural elements are the demand of the increasing speed of manipulators. The decreasing stifffness of the arms of the robots causes structural vibrations which lead to long waiting time at the desired 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, which is demonstrated by the use of a hybrid, planar multi body system. A nonlinear controller is designed by the use of differential geometric methods, whereas the stability is proved by means of the theory of Lyapunov.