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Robust Gain Scheduling for Smart-Structures in Parallel Robots

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

Full text not available from this repository.

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/
Document Type:Contribution to a Collection
Title:Robust Gain Scheduling for Smart-Structures in Parallel Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Algermissen, StephanUNSPECIFIEDUNSPECIFIED
Sinapius, MichaelUNSPECIFIEDUNSPECIFIED
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:
EditorsEmail
Schütz, D.UNSPECIFIED
Wahl, F.M.UNSPECIFIED
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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