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Control of Robots with Elastic Joints based on Automatic Generation of Inverse Dynamics Models

Thümmel, Michael and Otter, Martin and Bals, Johann (2001) Control of Robots with Elastic Joints based on Automatic Generation of Inverse Dynamics Models. In: Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 925-930. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001-10-29 - 2001-11-03, Maui (USA). ISBN 0-7803-6614-X.

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Abstract

In this article it is shown how tool vibrations of elastic joint robots can be reduced significantly by feedforward control based on inverse dynamics models. The key ideas are (a) to use available algorithms for differential-algebraic equation systems to derive inverse plant models automatically and reliably, (b) to automatically construct the high-order differentiability of the inverse plant model inputs by prefilters, and (c) to use a controller with two structural degrees of freedom. The technique is demonstrated with a 6 axes elastic joint robot model and with experimental results from our laboratory robot.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2001,
Title:Control of Robots with Elastic Joints based on Automatic Generation of Inverse Dynamics Models
Authors:
AuthorsInstitution or Email of Authors
Thümmel, MichaelUNSPECIFIED
Otter, MartinUNSPECIFIED
Bals, JohannUNSPECIFIED
Date:November 2001
Journal or Publication Title:Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Page Range:pp. 925-930
Editors:
EditorsEmail
IEEE, UNSPECIFIED
ISBN:0-7803-6614-X
Status:Published
Keywords:robot control, elastic joint, inverse dynamics
Event Title:2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Maui (USA)
Event Type:international Conference
Event Dates:2001-10-29 - 2001-11-03
Organizer:IROS 2001
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - MetroFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:09 Mar 2006
Last Modified:12 Dec 2013 20:02

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