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Modeling and Feed-Forward Control of Structural Elastic Robots

Reiner, Matthias and Otter, Martin and Ulbrich, H (2010) Modeling and Feed-Forward Control of Structural Elastic Robots. In: AIP Conf. Proceedings, 1281, pp. 378-381. ICNAAM 2010: International Conference of Numerical and Analysis and Applied Mathematics 2010, 19.-25. Sept. 2010, Rhodes, Griechenland. ISSN doi: 10.1063/1.3498481

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Abstract

In this paper an approach for modeling and control of robots with elasticities in power trains and in structural parts is presented and experimentally verified. For this purpose object-oriented, nonlinear models are developed in the modeling language Modelica. A system theoretical study of the generated models shows that a direct inversion of the models, due to the unstable zero dynamics, is not possible. Therefore an algorithm for the approximate inversion is developed. With this inversion method an approximate inverse model considering structural elasticity for a 6-axis robot is created and verified for the control of the robot. The new control leads to a considerable improvement of the driving characteristics of the robot in the experiment.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Modeling and Feed-Forward Control of Structural Elastic Robots
Authors:
AuthorsInstitution or Email of Authors
Reiner, MatthiasMatthias.Reiner@DLR.de
Otter, MartinMartin.Otter@DLR.de
Ulbrich, HTechniche Universität München
Date:2010
Journal or Publication Title:AIP Conf. Proceedings
Volume:1281
Page Range:pp. 378-381
ISSN:doi: 10.1063/1.3498481
Status:Published
Keywords:modelling
Event Title:ICNAAM 2010: International Conference of Numerical and Analysis and Applied Mathematics 2010
Event Location:Rhodes, Griechenland
Event Type:international Conference
Event Dates:19.-25. Sept. 2010
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:20 Dec 2010 11:20
Last Modified:21 Dec 2010 14:28

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