论文信息 - Vibration Control of Flexible Robots--Theoretical and Experimental Results

Vibration Control of Flexible Robots--Theoretical and Experimental Results

Abstract Using robots for heavy loads and huge operating ranges causes that elastic deformations of the links lead to vibration problems. A new, basically model independent approach to active damping control is presented in this paper where the actuators are controlled to act like virtual spring-damper-systems. The paper illustrates this technique with the help of a simple and easy to model one link flexible robot and shows experimental results from two laboratory testbeds.

Werner Bernzen

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