{"title":"柔性机器人的层次控制","authors":"M. Hermle, W. Schiehlen","doi":"10.23919/ECC.1999.7099675","DOIUrl":null,"url":null,"abstract":"A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Hierarchical control of flexible robots\",\"authors\":\"M. Hermle, W. Schiehlen\",\"doi\":\"10.23919/ECC.1999.7099675\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.\",\"PeriodicalId\":117668,\"journal\":{\"name\":\"1999 European Control Conference (ECC)\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1999 European Control Conference (ECC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/ECC.1999.7099675\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1999 European Control Conference (ECC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ECC.1999.7099675","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.
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