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- W2894430441 abstract "The problem of the trajectory-tracking and vibration control of highly flexible planar multi-links robot arms is investigated. We discretize the links according to the Hencky bar-chain model, which is an application of the lumped parameters techniques. In this approach, each link is considered as a kinematic chain of rigid bodies, and suitable springs are added in order to model bending resistance. The control strategy employed is based on an optimal input pre-shaping and a feedback of the joint angles to treat the effects of undesired disturbances. Some numerical examples are given to show the potentialities of the proposed control, and a comparison with a standard collocated Proportional-Derivative (PD) control strategy is performed. In particular, we study the cases of a linear and a parabolic trajectory with a polynomial time law chosen to minimize the onset of possible vibrations." @default.
- W2894430441 created "2018-10-05" @default.
- W2894430441 creator A5005336536 @default.
- W2894430441 creator A5040973983 @default.
- W2894430441 date "2018-09-25" @default.
- W2894430441 modified "2023-09-25" @default.
- W2894430441 title "Non-Linear Lumped-Parameter Modeling of Planar Multi-Link Manipulators with Highly Flexible Arms" @default.
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- W2894430441 doi "https://doi.org/10.3390/robotics7040060" @default.
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