Author:
Elisha Didam Markus
Affiliation:
Central University of Technology, South Africa
Keyword(s):
Flexible Joint Robot, Differential Flatness, Trajectory Planning, Friction Control, Open Loop Control.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Systems Modeling and Simulation
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.