Abstract
Fast moving robots with elastic joints and/or elastic links require vibration suppression to achieve accuracy.
We introduce a two-degrees-of-freedom control scheme (2DoF) consisting of a feedforward component
based on the flatness approach and a classic feedback component, such as a PD motor joint control
with additional link position error or joint torque error feedback. Such a control scheme requires knowledge
of the full system state. We present an approach for state estimation using angular rate-and acceleration-
sensors-mounted on each robot link-that can be used for any kind of elastic robot manipulator.
We validate our theory by measuring a very fast trajectory and the influence of an external disturbance
on an articulated robot with two flexible links and three joints.
| Original language | English |
|---|---|
| Pages (from-to) | 1043-1049 |
| Number of pages | 7 |
| Journal | Mechatronics |
| Volume | 22 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - Dec 2012 |
Fields of science
- 203022 Technical mechanics
- 203013 Mechanical engineering
- 202035 Robotics
- 203015 Mechatronics
JKU Focus areas
- Mechatronics and Information Processing