Modelling and Control Synthesis of Flexible Robot Arm Equipped with Additional Sensors

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00241429" target="_blank" >RIV/68407700:21220/15:00241429 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—

Result language
angličtina
Original language name
Modelling and Control Synthesis of Flexible Robot Arm Equipped with Additional Sensors
Original language description
The work deals with the introduction of fundamental problems of improving the accuracy of the robots with serial kinematic structure that can perform various operations such as machining. For the control synthesis is necessary to create a good model of flexible multibody system, which is outlined in the article. The robot is equipped with an auxiliary measuring apparatus for measuring the deformations and the position of the individual parts. The design of advanced robot control is realized based on themodel with additional measurements. The first step of the control design is realized by the cascade control of particular drives based on the inverse kinematics. The tuned cascade control is used as the initial estimate for the optimization of the structured fixed order H-infinity robust control.
Czech name
—
Czech description
—

Project
<a href="/en/project/GA13-39057S" target="_blank" >GA13-39057S: Position Feedback Based Stiness Increase of Robots by Redundant Measurement</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
MULTIBODY 2015 - Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015
ISBN
978-84-944244-0-3
ISSN
—
e-ISSN
—
Number of pages
12
Pages from-to
1446-1457
Publisher name
CIMNE
Place of publication
Barcelona
Event location
Barcelona
Event date
Jun 28, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

Similar results(10)