DSpace Repository

Experimental Validation on Flatness based Control of Flexible Robot Arm

Show simple item record

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

Files in this item

This item appears in the following Collection(s)

Show simple item record

Search DSpace


My Account