Peter Staufer, Hubert Gattringer,
"State estimation on flexible robots using accelerometers and angular rate sensors"
, in Mechatronics, Vol. 2012, Elsevier, Seite(n) 1043-1049, 2012, ISSN: 1873-4006
Original Titel:
State estimation on flexible robots using accelerometers and angular rate sensors
Sprache des Titels:
Englisch
Original Kurzfassung:
Fast moving robots with elastic joints and/or elastic links require vibration suppression to achieve accuracy.
We introduce a two-degrees-of-freedom control scheme (2DoF) consisting of a feedforward component
based on the flatness approach and a classic feedback component, such as a PD motor joint control
with additional link position error or joint torque error feedback. Such a control scheme requires knowledge
of the full system state. We present an approach for state estimation using angular rate-and acceleration-
sensors-mounted on each robot link-that can be used for any kind of elastic robot manipulator.
We validate our theory by measuring a very fast trajectory and the influence of an external disturbance
on an articulated robot with two flexible links and three joints.
Forschungs-