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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, 2010-09-19 - 2010-09-25, 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.
| Item URL in elib: | https://elib.dlr.de/67848/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||
| Title: | Modeling and Feed-Forward Control of Structural Elastic Robots | ||||||||||||||||
| Authors: |
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| Date: | 2010 | ||||||||||||||||
| Journal or Publication Title: | AIP Conf. Proceedings | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| 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 Start Date: | 19 September 2010 | ||||||||||||||||
| Event End Date: | 25 September 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 (until 2012) > System Dynamics and Control (former Control Design Engineering) | ||||||||||||||||
| Deposited By: | Klauer, Monika | ||||||||||||||||
| Deposited On: | 20 Dec 2010 11:20 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 19:33 |
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