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Titel:

Symplectic Discrete-Time Control of Flexible-Joint Robots: Experiments with Two Links

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Thoma, T.; Wu, X.; Dietrich, A.; Kotyczka, P.
Seitenangaben Beitrag:
pp 230-242
Abstract:
We present the application and experimental validation of discrete-time control implementation based on symplectic integration - in short referred to as symplectic discrete-time control - to a serial robot manipulator with flexible-joints. Applying the implicit midpoint rule as a simple and popular symplectic integration scheme to both the model of the sampled system and the desired target dynamics, yields a discrete-time control law with the same structure as in continuous time. The arguments a...     »
Stichworte:
Sampled-data systems; discrete-time control; symplectic integration; nonlinear mechanical systems; flexible-joint robots; serial elastic actuators; KUKA LWR
Dewey-Dezimalklassifikation:
620 Ingenieurwissenschaften
Kongress- / Buchtitel:
IFAC-PapersOnLine
Kongress / Zusatzinformationen:
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC)[7´th, 2021, Berlin]
Band / Teilband / Volume:
54.19 (2021)
Datum der Konferenz:
11.-13.10.2021
Verlag / Institution:
Elsevier
Publikationsdatum:
19.11.2021
Jahr:
2021
Quartal:
4. Quartal
Jahr / Monat:
2021-11
Monat:
Nov
Seiten:
pp. 230-242
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1016/j.ifacol.2021.11.046
WWW:
https://doi.org/10.1016/j.ifacol.2021.11.046
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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