A New Approach to Control Single-Link Flexible Arms. Part 1. Modelling and Identification in the Presence of Joint Friction

1989 ◽  
Author(s):  
Vicente Feliu ◽  
Kuldip S. Rattan ◽  
Jr Brown ◽  
H. B.
Keyword(s):  
New Approach ◽  
Joint Friction ◽  
Single Link ◽  
Flexible Arms

Design of Trajectories With Physical Constraints for Very Lightweight Single Link Flexible Arms

2006 ◽  
Author(s):  
Francisco Ramos ◽  
Vicente Feliu ◽  
Ismael Payo
Keyword(s):  
Design Process ◽  
Internal Control ◽  
Elastic Limit ◽  
Feedforward Control ◽  
Objective Method ◽  
Maximum Deflection ◽  
Robotic Arms ◽  
Physical Constraints ◽  
Single Link ◽  
Flexible Arms

This communication deals with feedforward control of light, flexible robotic arms. In particular we develop a new, objective method to design a family of trajectories that can be used as modified inputs which cancel the tip vibrations during the robot manoeuvres. This method takes into account the constraints encountered in real actuators (motors), such as a maximum motor torque, and those due to the mechanical limits of the link, such as the maximum deflection before reaching the elastic limit of the link. Parameters of the internal control of the actuators are also derived from the design process, gaining the fastest performance without saturating the motor. Lastly, we show some experimental results which clearly demonstrate the benefits of the new trajectories by comparing them to a linear one.

Design of Trajectories with Physical Constraints for very Lightweight Single Link Flexible Arms

2008 ◽  
Vol 14 (8) ◽  
pp. 1091-1110 ◽  
Author(s):  
Francisco Ramos ◽  
Vicente Feliu ◽  
Ismael Payo
Keyword(s):  
Physical Constraints ◽  
Single Link ◽  
Flexible Arms
Sign in / Sign up

Export Citation Format

Share Document