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Control concepts for a parallel manipulator with flexible links
Publikationstyp
Conference Paper
Date Issued
2016-10-25
Sprache
English
Author(s)
Institut
Volume
16
Issue
1
Start Page
819
End Page
820
Citation
Proceedings in applied mathematics and mechanics 16 (1): 819-820 (2016)
Contribution to Conference
Publisher DOI
Publisher
Wiley-VCH
Peer Reviewed
true
Light-weight robots are advantageous considering the low energy consumption and the low material cost. However, in light-weight structures significant oscillations can occur which make the control very challenging. Objective of this research is end-effector trajectory tracking of a parallel manipulator with flexible links. Hereby, only the manipulator's drives are used, and no additional actuation on the flexible bodies is considered. For accurate trajectory tracking, feedforward control of the manipulator is used based on inverse dynamics and servo-constraints, combined with feedback control of the drive positions