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Algermissen, Stephan and Sinapius, Michael (2010) Robust Gain Scheduling for Smart-Structures in Parallel Robots. In: Springer Tracts in Advanced Robotics (STAR) Robotic Systems for Handling and Assembly, 67. Springer. pp. 159-174. ISBN 978-3-642-16784-3. ISSN 1610-7438.
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Official URL: http://springerlink.com/content/978-3-642-16784-3/#section=824682&page=1&locus=0
Abstract
Smart-structures offer the potential to increase the productivity of parallel robots by reducing disturbing vibrations caused by high dynamic loads. In parallel robots the vibration behavior of the structure is position dependent. A single robust controller is not able to gain satisfying control performance within the entire workspace. Hence, vibration behavior is linearized at several operating points and robust controllers are designed. Controllers can be smoothly switched by gain-scheduling. A stability proof for fast varying scheduling parameters based on the Small-Gain Theorem is developed. Experimental data from Triglide, a four degree of freedom (DOF) parallel robot of the Collaborative Research Center 562, validate the presented concepts.
| Item URL in elib: | https://elib.dlr.de/68906/ | ||||||||||||
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| Document Type: | Contribution to a Collection | ||||||||||||
| Title: | Robust Gain Scheduling for Smart-Structures in Parallel Robots | ||||||||||||
| Authors: |
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| Date: | November 2010 | ||||||||||||
| Journal or Publication Title: | Springer Tracts in Advanced Robotics (STAR) | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| Volume: | 67 | ||||||||||||
| Page Range: | pp. 159-174 | ||||||||||||
| Editors: |
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| Publisher: | Springer | ||||||||||||
| Series Name: | Robotic Systems for Handling and Assembly | ||||||||||||
| ISSN: | 1610-7438 | ||||||||||||
| ISBN: | 978-3-642-16784-3 | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | smart-structures, robust control, gain-scheduling, parallel robot, stability | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||
| HGF - Program: | Transport, Aeronautics, Space (old) | ||||||||||||
| HGF - Program Themes: | W - no assignment, other, other | ||||||||||||
| DLR - Research area: | Transport, Aeronautics, Space | ||||||||||||
| DLR - Program: | W - no assignment, L - no assignment, V - no assignment | ||||||||||||
| DLR - Research theme (Project): | V - no assignment, W - no assignment (old), L - no assignment (old) | ||||||||||||
| Location: | Braunschweig | ||||||||||||
| Institutes and Institutions: | Institute of Composite Structures and Adaptive Systems > Adaptronics | ||||||||||||
| Deposited By: | Ries, Doris | ||||||||||||
| Deposited On: | 09 Feb 2011 12:28 | ||||||||||||
| Last Modified: | 09 Feb 2011 12:28 |
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