TY - GEN
T1 - Adaptive active damping control strategy for residual vibration free positioning of linearly actuated robots
AU - Bachmayer, M.
AU - Ulbrich, H.
PY - 2009
Y1 - 2009
N2 - If high speed and high accuracy positioning at a minimum of energetic and economical costs is desired, it is necessary to take the flexibility of the structure into account. Otherwise the structure has to be stiffer for reducing the amplitudes of residual vibrations, what means more moved mass and, therefore, a less energy efficient system. In this paper a combined control system, consisting of an observed feedforward control phase and an adaptive observer based closed loop control phase is presented.
AB - If high speed and high accuracy positioning at a minimum of energetic and economical costs is desired, it is necessary to take the flexibility of the structure into account. Otherwise the structure has to be stiffer for reducing the amplitudes of residual vibrations, what means more moved mass and, therefore, a less energy efficient system. In this paper a combined control system, consisting of an observed feedforward control phase and an adaptive observer based closed loop control phase is presented.
KW - Distributed parameter system
KW - Euler bernoulli beam
KW - Flatness based feedforward control
KW - Linearly actuated
KW - Residual vibrations
KW - State controller
UR - http://www.scopus.com/inward/record.url?scp=84858374227&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84858374227
SN - 9781905088300
T3 - Proceedings of the 12th International Conference on Civil, Structural and Environmental Engineering Computing
BT - Proceedings of the 12th International Conference on Civil, Structural and Environmental Engineering Computing
T2 - 12th International Conference on Civil, Structural and Environmental Engineering Computing, CC 2009
Y2 - 1 September 2009 through 4 September 2009
ER -