Flatness based Feed-forward Control of a Flexible Robot Arm under Gravity and Joint Friction

Elisha Didam Markus

Abstract

This paper discusses the open loop control problem of a flexible joint robot that is oriented in the vertical plane. This orientation of the robot arm introduces gravity constraints and imposes undesirable nonlinear behavior. Friction is also added at the joints to increase the accuracy of the model. Including these dynamics to the robot arm amplifies the open loop control problem. Differential flatness is used to propose a feed-forward control that compensates for these nonlinearities and is able to smoothly steer the robot from rest to rest positions. The proposed control is achieved without solving any differential equations which makes the approach computationally attractive. Simulations show the effectiveness of the open loop control design on a single link flexible joint robot arm.

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Paper Citation


in Harvard Style

Didam Markus E. (2015). Flatness based Feed-forward Control of a Flexible Robot Arm under Gravity and Joint Friction . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 174-180. DOI: 10.5220/0005502701740180


in Bibtex Style

@conference{icinco15,
author={Elisha Didam Markus},
title={Flatness based Feed-forward Control of a Flexible Robot Arm under Gravity and Joint Friction},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={174-180},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005502701740180},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Flatness based Feed-forward Control of a Flexible Robot Arm under Gravity and Joint Friction
SN - 978-989-758-123-6
AU - Didam Markus E.
PY - 2015
SP - 174
EP - 180
DO - 10.5220/0005502701740180