Modelling and Control of an Articulated Robot with Flexible Links/Joints
Sprache des Titels:
Proceedings of the 9th International Conference on Motion an Vibration Control MOVIC 2008
A main goal in production lines is to reduce cycle times. As a result the
industrial robots should be accelerated. One possibility to gain higher performance
is to build lightweight constructions and to allow elastic deformations in joints and
links. The upcoming problems such as modeling the elastic deformations and the
control of the hybrid system of rigid and flexible parts are the focus of this paper.
An articulated robot with 6 joints and 2 flexible links is under examination. For
simulation and control purposes the equations of motion are derived using the Projection
Equation in subsystem representation. In addition a recursive scheme to evaluate
the equations of motion with O(n) efficiency is applied.
The control strategy is a combination of feed forward control and a linear PD joint
controller. Furthermore the elastic deflections are pre-calculated for the vibration
control and to modify the desired track reducing the resulting end point displacement.
Measured results are presented to point out the functionality of the proposed control