Klemens Springer, Johannes Kilian, Hubert Gattringer,
"Active Vibration Control of a Flexible Link Robot with MPC"
: Nonlinear Model Predictive Control, Volume # 4 | Part# 1, Serie Nonlinear Model Predictive Control, Vol. 4, Nummer 1, Seite(n) 163-168, 8-2012, ISBN: 978-3-902823-07-6
Original Titel:
Active Vibration Control of a Flexible Link Robot with MPC
Sprache des Titels:
Englisch
Original Buchtitel:
Nonlinear Model Predictive Control, Volume # 4 | Part# 1
Original Kurzfassung:
In this contribution a model predictive control (MPC) design for a three axes linear robot system with flexible links and fast dynamics is presented. An appropriate model reduction is done and in combinaton with a suboptimal linearization approach, an efficient implementation is developed. Furthermore, the paper draws a performance comparison concerning vibration
suppression between the outlined MPC and a convential control strategy.
Forschungs-