کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
731239 | 893039 | 2012 | 7 صفحه PDF | دانلود رایگان |
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.
Journal: Mechatronics - Volume 22, Issue 8, December 2012, Pages 1043–1049