Experimental Validation on Flatness based Control of Flexible Robot Arm

被引：0
|
作者：
Markus, Elisha D. [1 ]
机构：
[1] Cent Univ Technol, Dept Elect Elect & Comp Engn, Bloemfontein, South Africa
来源：
2016 PATTERN RECOGNITION ASSOCIATION OF SOUTH AFRICA AND ROBOTICS AND MECHATRONICS INTERNATIONAL CONFERENCE (PRASA-ROBMECH) | 2016年
关键词：
Flexible robot arm; Differential flatness; nonlinear control; trajectory tracking; TRACKING; SYSTEMS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient response as desired for flexible robots. Experimental results proves the effectiveness of the flatness based control approach.
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页数：5
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