Numerical method to minimize tracking error of multi-link elastic robot

Pritam Kumar Sarkar, Motoji Yamamoto, Akira Mohri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The tracking error of robot manipulators based on flexible arm models are presented in this study. The number of actuator is equal to the dimension of the task space which is usually equal to the rigid body degrees of freedom. Actuator torques required for a flexible arm to track a given trajectory are formulated and computed by an iterative algorithm which is based on path planning method. The formulation is complete in the sense that it also considers the full nonlinear dynamics of the manipulator arm. The Euler-Bernoulli beam theory is used to model the dynamics of flexible links and the resulting equations of motion are derived by Lagrange's equation using finite element discretization technique. The algorithm is simple to implement but computationally expensive. The performance and capabilities of the proposed method are tested on a two-link arm through simulation and the results show the potential use of this method not only for feedforward open-loop control but also for closed-loop control strategies.

Original languageEnglish
Title of host publicationInnovations in Theory, Practice and Applications
Editors Anon
PublisherIEEE
Pages685-690
Number of pages6
Volume1
Publication statusPublished - 1998
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: Oct 13 1998Oct 17 1998

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period10/13/9810/17/98

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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