Experimental Validation on Flatness based Control of Flexible Robot Arm

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dc.contributor.authorMarkus, Elisha. D.
dc.date.accessioned2017-11-07T07:02:39Z
dc.date.available2017-11-07T07:02:39Z
dc.date.issued2016
dc.descriptionPublished Conference Proceedingsen_US
dc.description.abstractThis paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient response as desired for flexible robots. Experimental results proves the effectiveness of the flatness based control approach.en_US
dc.format.extent274 461 bytes, 1 file
dc.format.mimetypeApplication/PDF
dc.identifier.urihttp://hdl.handle.net/11462/1247
dc.language.isoen_USen_US
dc.publisher2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech) Stellenbosch, South Africaen_US
dc.subjectFlexible robot armen_US
dc.subjectDifferential flatnessen_US
dc.subjectnonlinear controlen_US
dc.subjecttrajectory trackingen_US
dc.titleExperimental Validation on Flatness based Control of Flexible Robot Armen_US
dc.typePresentationen_US

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