The control problem for flexible multilink robots carrying large payloads is revisited and a globally stable controller together with its adaptive companion is considered. Both controllers were derived on the basis of a set of nonlinear approximate equations describing the payload dominated dynamics of the robot in conjunction with the passivity property of a suitably defined modified input/output pair for the system. Their ability to combine end-point tracking with simultaneous vibration suppression is demonstrated by a set of experimental results concerning a three degree-of-freedom planar robot with two flexible links.


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    Title :

    Experiments on the control of flexible-link manipulators carrying large payloads


    Additional title:

    Lect Notes Control Inf Sci




    Publication date :

    2008-04-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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