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Control strategies for flexible link parallel robots
Citation Link: https://doi.org/10.15480/882.6203
Publikationstyp
Doctoral Thesis
Date Issued
2023
Sprache
English
Author(s)
Morlock, Merlin
Advisor
Referee
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2023-01-10
Institute
TORE-DOI
Citation
Technische Universität Hamburg (2023)
This research contributes to the field of flexible link parallel robots by showing how a variety of inherent control problems of such robots can be solved. Since the focus lies on promising techniques, well-established approaches are adapted to these robots. The proposed methods are experimentally validated within realistic scenarios. These confirm the need for modern controllers based on flexible multibody models as in most cases they significantly outperform controllers based on classical rigid multibody models.
Subjects
model-based control
flexible multibody systems
parallel robots
flexible link robots
end-effector trajectory tracking
oscillation damping control
DDC Class
600: Technology
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Name
Morlock_FlexibleLinkParallelRobots.pdf
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60.12 MB
Format
Adobe PDF