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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)
Additional Information:LIDO-Berichtsjahr=2005,
Title:Vibration Control of Elastic Joint Robots by Inverse Dynamics Models
Authors:
AuthorsInstitution or Email of Authors
Thümmel, MichaelUNSPECIFIED
Otter, MartinUNSPECIFIED
Bals, JohannUNSPECIFIED
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 (old)
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 Dec 2013 20:07

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