Title: Discrete-time inverse dynamics control of flexible joint robots
Authors: Jankowski, K
Van Brussel, Hendrik #
Issue Date: Jun-1992
Publisher: ASME-AMER Soc Mechanical Eng
Series Title: Journal of Dynamic Systems Measurement and Control-Transactions of the ASME vol:114 issue:2 pages:229-233
Abstract: This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm.
ISSN: 0022-0434
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
# (joint) last author

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