Synthesis of Computed Torques Control of Flexible Robot with Additional Sensors
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F15%3A00242197" target="_blank" >RIV/68407700:21220/15:00242197 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
Synthesis of Computed Torques Control of Flexible Robot with Additional Sensors
Original language description
The strategy presented in this paper combines the usage of redundant set of sensors and application of the computed torques control method. Sensors in conventional serial robots are placed next to the electrical motors before the gearboxes. The preparedfunctional model is equipped with additional sensors directly in revolute joints (behind the gearboxes) and also with deformation sensors sensing the arm bending and torsional deformations. Computed torques method realize the linearization of the dynamicsystem through the inverse dynamics model.
Czech name
—
Czech description
—
Classification
Type
O - Miscellaneous
CEP classification
JR - Other machinery industry
OECD FORD branch
—
Result continuities
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)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů