The control of flexible-link robots manipulating large payloads: Theory and experiments

被引:0
|
作者
Christoforou, EG
Damaren, CJ
机构
[1] Univ Toronto, Inst Aerosp Studies, Toronto, ON M3H 5T6, Canada
[2] Univ Canterbury, Dept Mech Engn, Christchurch 1, New Zealand
来源
JOURNAL OF ROBOTIC SYSTEMS | 2000年 / 17卷 / 05期
关键词
D O I
10.1002/(SICI)1097-4563(200005)17:5<255::AID-ROB3>3.0.CO;2-K
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The control problem for flexible-multilink robots carrying large payloads is revisited. A set of nonlinear approximate equations describing the payload-dominated dynamics of the flexible plant is used in conjunction with the passivity property satisfied by a suitably defined modified input-output pair for the system, to derive a globally asymptotically stable controller together with its adaptive counterpart. Experimental results involving a specially designed 3-degree-of-freedom planar arm with two flexible links, demonstrate their ability to combine end-point tracking with simultaneous active suppression of the vibrations. (C) 2000 John Wiley & Sons, Inc.
引用
收藏
页码:255 / 271
页数:17
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