Experimental Validation on Flatness based Control of Flexible Robot Arm

dc.contributor.author	Markus, Elisha. D.
dc.date.accessioned	2017-11-07T07:02:39Z
dc.date.available	2017-11-07T07:02:39Z
dc.date.issued	2016
dc.identifier.uri	http://hdl.handle.net/11462/1247
dc.description	Published Conference Proceedings	en_US
dc.description.abstract	This 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.extent	274 461 bytes, 1 file
dc.format.mimetype	Application/PDF
dc.language.iso	en_US	en_US
dc.publisher	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech) Stellenbosch, South Africa	en_US
dc.subject	Flexible robot arm	en_US
dc.subject	Differential flatness	en_US
dc.subject	nonlinear control	en_US
dc.subject	trajectory tracking	en_US
dc.title	Experimental Validation on Flatness based Control of Flexible Robot Arm	en_US
dc.type	Presentation	en_US