0

Full Content is available to subscribers

Subscribe/Learn More  >

Vibration Suppression for a Flexible Link Robot Using Acceleration and/or Angular Rate Measurements and a Flatness Based Trajectory Control

[+] Author Affiliations
Peter Staufer, Hubert Gattringer, Hartmut Bremer

Johannes Kepler University Linz, Linz, Austria

Paper No. DETC2011-47362, pp. 1101-1110; 10 pages
doi:10.1115/DETC2011-47362
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

This paper focuses on trajectory control of an articulated robot with two flexible links and three joints, for a base, a shoulder and an elbow. The aim of the present contribution is to use angular rate and acceleration sensors for vibration damping instead of strain gauges measurements. Applying strain gauges for the measurements of curvatures on industrial applications is often technically difficult and expensive. Operating with model based control approaches, the equations of motion are the essential prerequisites and therefore various mathematical models and assumptions are introduced. The first model is developed assuming Euler-Bernoulli-Beams and the Ritz approach. Under the condition of small elastic deformations a second model is computed, approximating the beam elasticity with linear springs and dampers. This so called lumped element model is modified in a further step, in order to apply common flatness based approaches. With these preparations a flatness based control, consisting of a feedforward and a feedback part, is shown. The latter one uses angular rate or acceleration measurements. The proposed control strategies are finally validated by several experiments.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In