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Active damping control for an underactuated multibody system
Publikationstyp
Conference Paper
Date Issued
2015-10-21
Sprache
English
Author(s)
Institut
Volume
15
Issue
1
Start Page
49
End Page
50
Citation
Proceedings in applied mathematics and mechanics 15 (1): 49-50 (2015)
Contribution to Conference
Publisher DOI
Publisher
Wiley-VCH
Peer Reviewed
true
Light-weight robots and manipulators stand out due to their very good weight-to-load ratio and a low energy consumption. Unfortunately, the light-weight design yields a lower stiffness, which results in undesired elastic deformations, especially during high-speed working motion. One way to limit these unwanted oscillations can be implemented with modifications of the command signals, e.g. by input shaping or pre-computed feed-forward control. However, a feedback control-concept has the ability to provide a fast compensation of elastic deformations due to high-speed working motions or in case of unwanted environment contact as well as in the presence of other external disturbances. In this contribution, an active damping control (ADC) for fast moving manipulators with significant structural elasticities is presented. This approach does not require additional actuators and it is suitable for a large variety of manipulators that exhibit structural vibrations.