A New Approach to Modelling and Control of Flexible Manipulators
Stig Moberg, Sven Hanssen · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2007
This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic equation (DAE). A simulation example for an elastic two axis planar robot is also included and shows promising results.