Experimental Validation on Flatness based Control of Flexible Robot Arm

被引：0

作者：

Markus, Elisha D. ^{[1
]}

机构：

[1] Cent Univ Technol, Dept Elect Elect & Comp Engn, Bloemfontein, South Africa

来源：

2016 PATTERN RECOGNITION ASSOCIATION OF SOUTH AFRICA AND ROBOTICS AND MECHATRONICS INTERNATIONAL CONFERENCE (PRASA-ROBMECH) | 2016年

关键词：

Flexible robot arm; Differential flatness; nonlinear control; trajectory tracking; TRACKING; SYSTEMS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient response as desired for flexible robots. Experimental results proves the effectiveness of the flatness based control approach.

引用

页数：5

共 21 条

[1]

[Anonymous], SYSTEMS CONTROL 21 C

[2]

[Anonymous], STEUERUNG REGELUNG E

[3]

[Anonymous], MTNS 2000

[4]

[Anonymous], IEEE INT C INF AUT I

[5]

[Anonymous], 2014, PROC 1 IBERIAN ROBOT

[6]

[Anonymous], 2010, MPRA PAPER NO 27287

[7]

[Anonymous], ROBOTICS AUTOMATION

[8]

[Anonymous], ROBOTICS AUTONOMOUS

[9]

[Anonymous], DIFFERENTIAL FLATNES

[10] Tracking Control of Differential-Drive Wheeled Mobile Robots Using a Backstepping-Like Feedback Linearization [J].

Chwa, Dongkyoung .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2010, 40 (06) :1285-1295

← 1 2 3 →