An efficient approach to modelling of an experimental planar two-link flexible manipulator

被引：0
|
作者：
Bai, M [1 ]
Schwarz, H [1 ]
机构：
[1] Univ Duisburg Gesamthsch, Fac Mech Engn, Dept Measurement & Control, D-47048 Duisburg, Germany
来源：
ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年
关键词：
two-link flexible manipulator; modelling; Lagrangian approach; disturbance; variable; strong tracking filter (STF);
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a systematic approach to modelling of an experimental planar two-link flexible manipulator, Duisburg Flexible Manipulator 01 (DFM01), is presented. The dynamic model of DFM01 is derived by employing the Lagrangian approach in conjunction with the assumed modes method. Only the first flexible mode of each link are considered. The actuator models are also presented. Friction and the unmodelled dynamics of DFM01, such as the cable disturbance and gear hysteresis, have been considered as disturbance variables. These disturbance variables are identified via on-line state estimation by employing the strong tracking filter (STF) (Zhou ct al., 1992; Zhou et at, 1993). Experimental results are presented to demonstrate the effectiveness of this approach.
引用
收藏
页码：53 / 58
页数：4
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