2 research outputs found
Application of Stable Inversion to Flexible Manipulators Modeled by the ANCF
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