End-Effector Trajectory Tracking of Serial Flexible Manipulators
نویسندگان
چکیده
منابع مشابه
End-Effector Trajectory Tracking Control of a Parallel Flexible Manipulator
End-effector trajectory tracking of flexible multibody systems is often a challenging task. This is due to the fact that flexible multibody systems possess less control inputs than degrees of freedom, i.e. they are underactuated. Thus, classical approaches known from fully actuated systems cannot be applied. The complexity might be further increased, if the multibody system includes additional ...
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In this paper a new control strategy is introduced for tip trajectory tracking of flexible-joint manipulators driven by harmonic drives. The proposed controller incorporates friction compensating torque (FCT) and composite controller torque (CCT), which compensate for the friction in the harmonic drives and the flexibility of the joints, respectively. The FCT is a new controller which includes ...
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The recently developed stable inversion theory for nonminimum phase nonlinear systems is applied to output tracking for multilink exible robot manipulators. The stable inversion theory and a numerical solution to stable inverses are brie y reviewed. Forward dynamics of a two-link exible manipulatorwith tip position as the output is then given using the assumed modes method. From that, an i...
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We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...
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ژورنال
عنوان ژورنال: PAMM
سال: 2012
ISSN: 1617-7061
DOI: 10.1002/pamm.201210348