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Experimental Robotics VI pp 445–454Cite as

Experiments on the control of flexible-link manipulators carrying large payloads

  • Chapter 11 Friction And Flexibility
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

The control problem for flexible multilink robots carrying large payloads is revisited and a globally stable controller together with its adaptive companion is considered. Both controllers were derived on the basis of a set of nonlinear approximate equations describing the payload dominated dynamics of the robot in conjunction with the passivity property of a suitably defined modified input/output pair for the system. Their ability to combine end-point tracking with simultaneous vibration suppression is demonstrated by a set of experimental results concerning a three degree-of-freedom planar robot with two flexible links.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Canterbury, Private Bag 4800, Christchurch, New Zealand

    Eftychios G. Christoforu & Christopher J. Damaren

Authors
  1. Eftychios G. Christoforu
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  2. Christopher J. Damaren
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Corresponding authors

Correspondence to Eftychios G. Christoforu or Christopher J. Damaren .

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© 2000 Springer-Verlag London Limited

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Christoforu, E.G., Damaren, C.J. (2000). Experiments on the control of flexible-link manipulators carrying large payloads. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119422

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  • DOI: https://doi.org/10.1007/BFb0119422

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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