Sven Hanssen

A DAE approach to Feedforward Control of Flexible Manipulators

This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic equation (DAE). A simulation example for an elastic two axis planar robot is also included and shows promising results.

Modeling and Parameter Estimation of Robot Manipulators Using Extended Flexible Joint Models

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 only the torsional gea ...

On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots

Feedback linearization is one of the major academic approaches for controlling flexible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic three-axis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are available. The feedback linearization approach is compared to a feedforward approach.