The underlying concept is based on an independent joint control strategy. The joint angles of each actuator are controlled by a cascaded position controller with an inner velocity and a motor-current loop. Strain measurements on each link are fed back to the input of the velocity control loop at the preceding joint. Additionally a zero-vibration input shaper filters the command signal. Timeline: 00:07 Step motion from [0°, 0°, 0°] to [0°, 45°, -45°] 00:23 Step motion from [0°, 45°, -45°] to [0°, 135°, 45°] 00:39 Hit from an additional test mass falling onto the robot at [0°, 135°, 45°] References: - Malzahn, J., A. S. Phung, F. Hoffmann und T. Bertram: Vibration Control of a Multi-Flexible-Link Robot Arm under Gravity, In IEEE International Conference on Robotics and Biomimetics, Phuket (Thailand),07.-11.12.2011, pp. 1249-1254 Dezember 2011 - Malzahn, J., M. Ruderman, A. S. Phung, F. Hoffmann und T. Bertram: Input Shaping and strain gauge feedback vibration control of an elastic robotic arm, 2010 IEEE Conference on Control and Fault Tolerant Systems (Systol'10), pp. 672-677, Nice, France Oktober 2010 For more information on the project please visit: http://www.rst.e-technik.tu-dortmund.... |
