Light-weight structural elements are the demand of the increasing speed of manipulators. The decreasing stiffness of the arms of the robots causes structural vibrations which lead to long waiting time at the end position. One way to overcome this difficulty is the usage of well damped materials. Another one is to include the elastic properties of the robot into the mechanical model and to design the proper control system. The paper is concerned with the second way.
Sprache der Kurzfassung:
Englisch
Englischer Vortragstitel:
Nonlinear Control of a Flexible One-Arm Robot
Englischer Tagungstitel:
First European Conference on Structural Control
Englische Kurzfassung:
Light-weight structural elements are the demand of the increasing speed of manipulators. The decreasing stiffness of the arms of the robots causes structural vibrations which lead to long waiting time at the end position. One way to overcome this difficulty is the usage of well damped materials. Another one is to include the elastic properties of the robot into the mechanical model and to design the proper control system. The paper is concerned with the second way.
Vortragstyp:
Vortrag auf einer Tagung (referiert)
Vortragsdatum:
29.05.1996
Vortragsort:
Spanien
Details zum Vortragsort:
First European Conference on Structural Control Barcelona
Forschungs-