Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Inverse Dynamics of Flexible Manipulators
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Royal Institute of Technology, Sweden.
2010 (English)Report (Other academic)
Abstract [en]

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limited due to the model simplifications, since a real manipulator has a distributed flexibility inall directions. This work investigates different methods for the inverse dynamics of a more general manipulator model, called the extended flexible joint model. The inverse dynamics solution is needed for feedforward control, which is often used for high-precision robot manipulator control.

The inverse dynamics of the extended flexible joint model can be computed as the solution of a high-index differential algebraic equation (DAE). One method is to solve the discretized DAE using a constant stepsize constant-order backwards differentiation formula (BDF). This work shows that there is only a small difference between solving theoriginal high-index DAE and the index-reduced DAE. It is also concluded that scaling of the algebraic equations and their derivatives is important.

The inverse dynamics can be solved as an initial-value problem if the zero dynamics of the system is stable, i.e., minimum phase. For unstable zero dynamics, an optimization approach based on the discretized DAE is suggested. An optimization method, using a continuous DAE formulation, is also suggested and evaluated. The solvers are illustrated by simulation, using a manipulator with two actuators and five degrees-of-freedom.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2939
Keyword [en]
Manipulator- -Control--Differential algebraic equation--Flexible multibody dynamics--Non-minimum phase--Inverse dynamics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97549ISRN: LiTH-ISY-R-2939OAI: oai:DiVA.org:liu-97549DiVA: diva2:648394
Funder
Swedish Research Council
Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2014-09-01Bibliographically approved

Open Access in DiVA

fulltext(1311 kB)302 downloads
File information
File name FULLTEXT01.pdfFile size 1311 kBChecksum SHA-512
ab9001ce2eaadbfc4c1c70d72bd29748dd8522273054638f192e0de092f0aba5cebec0dc501e32bab8050aa8db4562e0f9e2382e44e1aaebe0ed8b886bff966c
Type fulltextMimetype application/pdf

By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 302 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 232 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf