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  4. Friction compensation, gain scheduling and curvature control for a flexible parallel kinematics robot
 
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Friction compensation, gain scheduling and curvature control for a flexible parallel kinematics robot

Publikationstyp
Conference Paper
Date Issued
2015
Sprache
English
Author(s)
Morlock, Merlin 
Burkhardt, Markus  
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/6904
Start Page
2354
End Page
2359
Citation
IEEE International Conference on Intelligent Robots and Systems (2015-December): 2354-2359 (2015)
Contribution to Conference
IEEE/ RSJ International Conference on Intelligent Robots and Systems, IROS 2015  
Publisher DOI
10.1109/IROS.2015.7353695
Scopus ID
2-s2.0-84958169197
Publisher
IEEE
For a parallel manipulator with a kinematic loop and a highly flexible link, a comprehensive control approach including friction compensation for the drive train, gain scheduling and active oscillation damping is considered. Friction compensation based on the Stribeck as well as the LuGre models and gain scheduling are used to improve the position control. A curvature controller, which is based on a nonlinear flexible multibody system and on an accurate position control, actively damps the oscillations of the parallel manipulator. First experimental results are presented to confirm the utility of the implemented concepts.
DDC Class
620: Ingenieurwissenschaften
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