Robust control of a very lightweight one degree-of freedom flexible arm with changes in the tip mass and inertia

This work presents a new control scheme for a one degree-of-freedom flexible robot which takes into account the inertia of the payload in addition to the effects of its mass. In order to achieve this control, a scheme with two nested loops is proposed. Inner loop is used to adjust motor dynamics, an...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Ramos, F., Castillo, F.J., Somolinos, J.A., Feliu, V.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Adaptive control Arm Capacitive sensors Large Hadron Collider Payloads Robust control Service robots Vibration control Weight control
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