Peter Staufer, Hubert Gattringer, Wolfgang Höbarth, Hartmut Bremer,
"Passivity Based Backstepping Control of an Elastic Robot"
, in Vincenzo Parenti-Castelli, Werner Schiehlen: Romansy 18, Robot Design, Dynamics and Control, Serie CISM International Centre for Mechanical Sciences, Vol. 524, Nummer 524, Springer Wien New York, Seite(n) 315-322, 2010, ISBN: 978-3-7091-0276-3
Original Titel:
Passivity Based Backstepping Control of an Elastic Robot
Sprache des Titels:
Englisch
Original Buchtitel:
Romansy 18, Robot Design, Dynamics and Control
Original Kurzfassung:
In industry plants, a trade of between the requirements
of speed and cost efficiency often results in lightweight constructions. However, this introduces elastic deflections causing vibrations and a loss in tracking precision. Hence, investigations in suitable models and control laws are necessary. By using the Projection
Equation with a Ritz expansion, a set of nonlinear ordinary differential equations which describes the motion of the system is developed. The utilized control law is a combination of a feedforward and a feedback scheme. The latter is based on backstepping methods, with respect to passivity ports. Finally experimental results
are shown to verify the proposed control strategy.