EVALUATION OF FEEDBACK AND FEEDFORWARD LINEARIZATION STRATEGIES FOR AN ARTICULATED ROBOT

Roland Riepl; Hubert Gattringer; Hartmut Bremer

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Paper

EVALUATION OF FEEDBACK AND FEEDFORWARD LINEARIZATION STRATEGIES FOR AN ARTICULATED ROBOT

Topics: Industrial Networks and Automation; Mechatronic Systems; Modeling, Simulation and Architectures; Robot Design, Development and Control

In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 192-197, 2010 , Funchal, Madeira, Portugal

Authors: Roland Riepl ; Hubert Gattringer and Hartmut Bremer

Affiliation: Johannes Kepler University, Austria

Keyword(s): Robotics, Nonlinear control, Decentralized control, Linearization, Multi-body dynamics, Identification.

Related Ontology Subjects/Areas/Topics: Industrial Networks and Automation ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The increasing demand of high performance applications in industrial environments calls for improved control strategies for nonlinear mechanical systems. Common flatness based approaches, effectively linearizing a highly nonlinear system, are available and ready for deployment. This contribution focuses on evaluating these strategies in a modern and widely used industrial setup.

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Paper citation in several formats:

Riepl, R.; Gattringer, H. and Bremer, H. (2010). EVALUATION OF FEEDBACK AND FEEDFORWARD LINEARIZATION STRATEGIES FOR AN ARTICULATED ROBOT. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 192-197. DOI: 10.5220/0002918301920197

@conference{icinco10,
author={Roland Riepl. and Hubert Gattringer. and Hartmut Bremer.},
title={EVALUATION OF FEEDBACK AND FEEDFORWARD LINEARIZATION STRATEGIES FOR AN ARTICULATED ROBOT},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={192-197},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002918301920197},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - EVALUATION OF FEEDBACK AND FEEDFORWARD LINEARIZATION STRATEGIES FOR AN ARTICULATED ROBOT
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Riepl, R.
AU - Gattringer, H.
AU - Bremer, H.
PY - 2010
SP - 192
EP - 197
DO - 10.5220/0002918301920197
PB - SciTePress