Conference paper
Vertical Control for a 1Dof Flexible Robot Based on a Fem Model Applicable for Control-Purposes
In
Proceedings of European Control Conference Ecc 2001
—
2001, pp. 1111-1116
Abstract
This paper presents a method of vertical feedback control for a 1DOF flexible robot. The control is based on a FEM model applicable for control purposes, where the chosen Generalized Coordinates (GC) are the curvatures at the nodal points where strain-gauges are placed. The control performs both dampening of vibrations and positioning of the tip.
To obtain equilibrium in the whole workspace a curvature reference is generated online as a function of the joint-angle.
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 2001 |
| Pages: | 1111-1116 |
| Proceedings: | 2001 European Control Conference (ECC) |
| ISBN: | 395241736X , 395241736x and 9783952417362 |
| Types: | Conference paper |
| DOI: | 10.23919/ECC.2001.7076064 |
