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

Pritam Kumar Sarkar, Motoji Yamamoto, Akira Mohri

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルInnovations in Theory, Practice and Applications
編集者 Anon
出版社IEEE
ページ685-690
ページ数6
1
出版ステータス出版済み - 1998
イベントProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
継続期間: 10 13 199810 17 1998

その他

その他Proceedings 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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