Transcript
A DAE approach to Feedforward Control of Flexible Manipulators
• A General Elastic Model Structure for Flexible Industrial Robot Structures
• A Feedforward Control Approach based on solution of DAE’s
• Simulation Example included
Stig Moberg Division of Automatic Control, Linköpings Universitet, Sweden
Sven HanssenDept. of Solid Mechanics, Royal Institute of Technology, Stockholm, Sweden
IRB6600ID from ABB Robotics