Abstract
Traditional manipulator designs are based on maximized stiffness to suppress undesired elastic vibrations. This results in high accuracy in end-effector trajectory tracking, while it usually includes a drastic mass increase, a poor weight-to-payload ratio and high energy consumption. In contrast, modern light weight designs result in low energy consumption and allow often high working speeds. However, due to the light weight design the bodies have a significant flexibility which yields undesired vibrations. Therefore, in the control design these flexibilities must be taken into account. In this chapter feedforward control designs based on inverse models are presented and applied to serial and parallel flexible manipulators. Thereby, for a given system output the inverse model provides the control input for exact reproduction of the desired output trajectory and the trajectories of the generalized coordinates.
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Acknowledgements
The authors would like to thank the German Research Foundation (DFG) for financial support of this work within the Cluster of Excellence in Simulation Technology (EXC 310/1) at the University of Stuttgart.
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Seifried, R., Burkhardt, M., Held, A. (2013). Trajectory Control of Serial and Parallel Flexible Manipulators Using Model Inversion. In: Samin, JC., Fisette, P. (eds) Multibody Dynamics. Computational Methods in Applied Sciences, vol 28. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-5404-1_3
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DOI: https://doi.org/10.1007/978-94-007-5404-1_3
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