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Vibration Control of Elastic Joint Robots by Inverse Dynamics Models
Thümmel, Michael and Otter, Martin and Bals, Johann (2005) Vibration Control of Elastic Joint Robots by Inverse Dynamics Models. IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 2005-07-18 - 2005-07-22, München.
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Abstract
In this article tracking control of nonlinear plants using a two degree of freedom controller structure is considered. The work described herein focuses on the design of feedforward controllers based on automatic generation of inverse plant models. The method is applied to the problem of vibration control of elastic joint robots and is demonstrated with simulations and experimental results.
| Document Type: | Conference or Workshop Item (Paper) | ||||||||
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| Additional Information: | LIDO-Berichtsjahr=2005, | ||||||||
| Title: | Vibration Control of Elastic Joint Robots by Inverse Dynamics Models | ||||||||
| Authors: |
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| Date: | 2005 | ||||||||
| Page Range: | pp. 343-353 | ||||||||
| Status: | Published | ||||||||
| Keywords: | inverse dynamics model, elastic joint robot, two degree of freedom controller, Modelica, Dymola | ||||||||
| Event Title: | IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures | ||||||||
| Event Location: | München | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2005-07-18 - 2005-07-22 | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Transport | ||||||||
| HGF - Program Themes: | V SH - Verbesserung der Sicherheit im Verkehr | ||||||||
| DLR - Research area: | Transport | ||||||||
| DLR - Program: | V SH - Verbesserung der Sicherheit im Verkehr | ||||||||
| DLR - Research theme (Project): | V - ViFa (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering) | ||||||||
| Deposited By: | elib DLR-Beauftragter | ||||||||
| Deposited On: | 03 Nov 2008 | ||||||||
| Last Modified: | 12 Mar 2010 14:54 |
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