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Algebraic Estimation and Control of Single-Link Flexible Joint Robots

Assanimoghaddam, Mehran and Acquatella B., Paul (2017) Algebraic Estimation and Control of Single-Link Flexible Joint Robots. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 24–28, 2017, Vancouver, BC, Canada. DOI: 10.1109/IROS.2017.8205976

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Official URL: http://ieeexplore.ieee.org/document/8205976/

Abstract

This paper presents an algebraic approach for the estimation and control of single-link flexible joint robots. Typically, a sensory set to directly measure all robot states is hardly available. Especially in cost efficient robotic systems as widely used in the industry, robots do not profit from `link-sided' position measurements for end-effector control tasks but instead rely on easily accessible `motor-sided' measurements in combination with model-based control strategies. In this paper, we are interested in obtaining online estimates of the unmeasured link position and speed for use in control. To that end, we introduce an algebraic estimation approach which relies only on motor position sensing and an accelerometer mounted near the end-effector. The estimation is based on an algebraic reformulation of the equations of motion which are linear in the unknown variables allowing an estimation process which is of non-asymptotic fashion. The proposed solution is illustrated by simulation and experimentally with an industrial robot. The robot is controlled by a common 2-DOF structure consisting of feed forward and feedback control loops. Our experimental results show good tracking performance, especially in terms of suppressing residual vibrations.

Item URL in elib:https://elib.dlr.de/118399/
Document Type:Conference or Workshop Item (Speech)
Title:Algebraic Estimation and Control of Single-Link Flexible Joint Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Assanimoghaddam, Mehranmehran.assanimoghaddam (at) dlr.deUNSPECIFIED
Acquatella B., Paulpaul.acquatella (at) dlr.deUNSPECIFIED
Date:2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/IROS.2017.8205976
Status:Published
Keywords:Motion Control of Manipulators, Industrial Robots, Flexible Robots, Algebraic Estimation
Event Title:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vancouver, BC, Canada
Event Type:international Conference
Event Dates:September 24–28, 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Assanimoghaddam, Mehran
Deposited On:22 Jan 2018 14:39
Last Modified:22 Jan 2018 14:39

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