[图书][B] On modeling and control of flexible manipulators

S Moberg - 2007 - search.proquest.com
Industrial robot manipulators are general-purpose machines used for industrial automation
in order to increase productivity, flexibility, and quality. Other reasons for using industrial …

Analysis of servo-constraint problems for underactuated multibody systems

R Seifried, W Blajer - Mechanical Sciences, 2013 - ms.copernicus.org
Underactuated multibody systems have fewer control inputs than degrees of freedom. In
trajectory tracking control of such systems an accurate and efficient feedforward control is …

Experimental validation for the combination of funnel control with a feedforward control strategy

S Drücker, L Lanza, T Berger, T Reis… - Multibody System …, 2024 - Springer
Current engineering design trends, such as lightweight machines and human–machine
interaction, often lead to underactuated systems. Output trajectory tracking of such systems …

A geometric optimization method for the trajectory planning of flexible manipulators

A Lismonde, V Sonneville, O Brüls - Multibody System Dynamics, 2019 - Springer
Lightweight and flexible robots offer an interesting answer to industrial needs for safety and
efficiency. The control of such systems should be able to deal properly with the flexible …

Nonlinear gray-box identification using local models applied to industrial robots

E Wernholt, S Moberg - Automatica, 2011 - Elsevier
In this paper, we study the problem of estimating unknown parameters in nonlinear gray-box
models that may be multivariable, nonlinear, unstable, and resonant at the same time. A …

Modeling and parameter estimation of robot manipulators using extended flexible joint models

S Moberg, E Wernholt… - Journal of …, 2014 - asmedigitalcollection.asme.org
This paper considers the problem of dynamic modeling and identification of robot
manipulators with respect to their elasticities. The so-called flexible joint model, modeling …

High-Precision Control of Industrial Robot Manipulator Based on Extended Flexible Joint Model

S Xu, Z Wu, T Shen - Actuators, 2023 - mdpi.com
High-precision industrial manipulators are essential components in advanced
manufacturing. Model-based feedforward is the key to realizing the high-precision control of …

Industrial robot tool position estimation using inertial measurements in a complementary filter and an EKF

E Hedberg, J Norén, M Norrlöf, S Gunnarsson - IFAC-PapersOnLine, 2017 - Elsevier
In this work an Inertial Measurement Unit is used to improve tool position estimates for an
ABB IRB 4600 industrial robot, starting from estimates based on motor angle forward …

Iterative flexibility compensation based high precision trajectory tracking for industrial manipulators

S Xu, Z Wu, Z Chu, T Shen - Journal of the Franklin Institute, 2024 - Elsevier
High precision industrial manipulators are widely demanded in precision machining and
advanced manufacturing. To realize high precision trajectory tracking in task space …

Trajectory planning of soft link robots with improved intrinsic safety

A Lismonde, V Sonneville, O Brüls - IFAC-PapersOnLine, 2017 - Elsevier
For human-robot cooperation, intrinsic safety approaches aim at reducing the energy
involved in the motion of the robotic system and at increasing the system compliance in …