Modelling and Control of Flexible Manipulators

摘要

The control of mechanical structures when their flexible behavior (static anddynamic) limits their operational performances is addressed. This phenomenon occurs as soon as size, operative speed and/or payload increase. The control design is based on a dynamic model of the structure (including nonlinear and vibrational effects) obtained by ADAMEUS software. Via dynamic inversion and linearized models (both of them provided by ADAMEUS software), control laws are computed with feedforward and feedback terms. Successful experimentations were performed on flexible structures exhibiting torsional and/or flexural flexibilities. Industrial application on a KUKA spot welding robot controlled by an industrial numerical controller is currently under test.