Abstract
In industry plants, a trade off between the requirements of speed and cost efficiency often results in lightweight constructions. However, this introduces elastic deflections causing vibrations and a loss in tracking precision. Hence, investigations in suitable models and control laws are necessary. By using the Projection Equation with a Ritz expansion, a set of nonlinear ordinary differential equations which describes the motion of the system is developed. The utilized control law is a combination of a feedforward and a feedback scheme. The latter is based on backstepping methods, with respect to passivity ports. Finally experimental results are shown to verify the proposed control strategy.
Support of the present work in the framework of the peer-reviewed Austrian Center of Competence in Mechatronics (ACCM) is gratefully acknowledged.
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Stauter, P., Gattringer, H., Höbart, W., Bremer, H. (2010). Passivity Based Backstepping Control of an Elastic Robot. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_37
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_37
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