loading
Documents

Research.Publish.Connect.

Paper

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

Topics: Control and Supervision Systems; Engineering Applications; Guidance, Navigation and Control; Industrial Automation and Robotics; Modeling, Simulation and Architecture; Robot Design, Development and Control; Systems Modeling and Simulation; Systems Modeling and Simulation

Author: Elisha Didam Markus

Affiliation: Central University of Technology, South Africa

ISBN: 978-989-758-123-6

ISSN: 2184-2809

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.235.30.155

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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, ISSN 2184-2809, pages 174-180. DOI: 10.5220/0005502701740180

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.