Adaptive active damping control strategy for residual vibration free positioning of linearly actuated robots

M. Bachmayer, H. Ulbrich

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 12th International Conference on Civil, Structural and Environmental Engineering Computing
StatePublished - 2009
Event12th International Conference on Civil, Structural and Environmental Engineering Computing, CC 2009 - Funchal, Madeira, Portugal
Duration: 1 Sep 20094 Sep 2009

Publication series

NameProceedings of the 12th International Conference on Civil, Structural and Environmental Engineering Computing

Conference

Conference12th International Conference on Civil, Structural and Environmental Engineering Computing, CC 2009
Country/TerritoryPortugal
CityFunchal, Madeira
Period1/09/094/09/09

Keywords

  • Distributed parameter system
  • Euler bernoulli beam
  • Flatness based feedforward control
  • Linearly actuated
  • Residual vibrations
  • State controller

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