Nonlinear Control of a Flexible One-Arm Robot

Wilhelm Fuchs; Kurt Schlacher; Alexander Belyaev

Nonlinear Control of a Flexible One-Arm Robot

Wilhelm Fuchs, Kurt Schlacher, Alexander Belyaev

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of the First European Conference on Structural Control
Pages	280-287
Number of pages	8
Publication status	Published - Jun 1996

Fields of science

101028 Mathematical modelling
202 Electrical Engineering, Electronics, Information Engineering
202003 Automation
202017 Embedded systems
202027 Mechatronics
202034 Control engineering
203015 Mechatronics
102009 Computer simulation
203022 Technical mechanics

Cite this

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abstract = "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.",

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AB - 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.

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EP - 287

BT - Proceedings of the First European Conference on Structural Control

ER -

Nonlinear Control of a Flexible One-Arm Robot

Abstract

Fields of science

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Cite this