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Control of Elastic Robots

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Dynamical Problems of Rigid-Elastic Systems and Structures

Summary

A robot system is considered which consists of two elastic links (bending and torsional deflection) and three fexible joints. This leads to six degrees of freedom (dof) for the rigid body motion of the system, three of which are assigned to the motor torque input. The remaining three dof. describe the gross motion of the system in space. They are superimposed by small elastic deflections which are calculated using a Ritz series approximation. The differential équations of the interconnected rigid body and elastic motion are highly nonlinear. The aim of the present investigation is to evaluate an optimal endpoint control (gripper movement) for a prescribed path in space.

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Author information

Authors and Affiliations

  1. Institute B of Mechanics, Technical University of Munich, Germany

    H. Bremer & F. Pfeiffer

Authors
  1. H. Bremer
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  2. F. Pfeiffer
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Editor information

Editors and Affiliations

  1. Institute for Problems in Mechanics, USSR Academy of Sciences, Pr.Vernadskogo 101, Moscow, 117526, USSR

    N. V. Banichuk  & D. M. Klimov  & 

  2. Institute B of Mechanics, University of Stuttgart, Pfaffenwaldring 9, W-7000, Stuttgart 80, Germany

    W. Schiehlen

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© 1991 Springer-Verlag, Berlin Heidelberg

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Bremer, H., Pfeiffer, F. (1991). Control of Elastic Robots. In: Banichuk, N.V., Klimov, D.M., Schiehlen, W. (eds) Dynamical Problems of Rigid-Elastic Systems and Structures. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84458-4_6

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  • DOI: https://doi.org/10.1007/978-3-642-84458-4_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-84460-7

  • Online ISBN: 978-3-642-84458-4

  • eBook Packages: Springer Book Archive

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