Path and force control of elastic manipulators

Abstract

Path and force control for a manipulator with elastic links and joints is performed by a feedforward and a feedback loop, where the first one contains optimal reference generation including the influence of stationary elastic deviations and the second one includes joint control and active damping of all elastic vibrations. Elastic effects are assumed to be small. Control criteria are damping and controllability for the elastic vibrations. Theory and measurement at a three-axis robot compare very well.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>