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  4. Application of stable inversion to flexible manipulators modeled by the absolute nodal coordinate formulation
 
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Application of stable inversion to flexible manipulators modeled by the absolute nodal coordinate formulation

Citation Link: https://doi.org/10.15480/882.4968
Publikationstyp
Journal Article
Date Issued
2023-03-01
Sprache
English
Author(s)
Drücker, Svenja  orcid-logo
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.4968
TORE-URI
http://hdl.handle.net/11420/14938
Journal
GAMM-Mitteilungen  
Volume
46
Issue
1
Article Number
e202300004
Citation
GAMM-Mitteilungen 46 (1): e202300004 (2023)
Publisher DOI
10.1002/gamm.202300004
Scopus ID
2-s2.0-85149384870
Publisher
Wiley-VCH Verlag
Peer Reviewed
true
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied control strategy should account for these elasticities. A feedforward controller based on an inverse model of the system is an efficient way to improve the performance. However, unstable internal dynamics arise for many common flexible robots and stable inversion must be applied. In this contribution, an approximation of the original stable inversion approach is proposed. The approximation simplifies the problem setup, since the internal dynamics do not need to be derived explicitly for the definition of the boundary conditions. From a practical point of view, this makes the method applicable to more complex systems with many unactuated degrees of freedom. Flexible manipulators modeled by the absolute nodal coordinate formulation (ANCF) are considered as an application example.
DDC Class
570: Biowissenschaften, Biologie
600: Technik
Funding(s)
Adaptive Regelung nichtlinearer differentiell-algebraischer Systeme aus der Mehrkörperdynamik  
Projekt DEAL  
Publication version
acceptedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
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