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Publication

Control of Flexible Link Manipulator

Ajish Babu
DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 14-03, ISBN ISSN 0946-0098, Selbstverlag, Bremen, 6/2014.

Abstract

Light-weight robot design have a certain degree of flexibility, which in turn introduces unwanted vibrations. This talk introduces different methods of vibration attenuation, combining feed-forward and feedback techniques. Feed-forward compensation based on Input Shaping and feedback control based on Strain gauges and Inertial Measurement Unit are used. The effectiveness of these controllers are studied using a two-link manipulator test setup.