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Title:

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

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Thoma, T.; Wu, X.; Dietrich, A.; Kotyczka, P.
Pages contribution:
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...     »
Keywords:
Sampled-data systems; discrete-time control; symplectic integration; nonlinear mechanical systems; flexible-joint robots; serial elastic actuators; KUKA LWR
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Book / Congress title:
IFAC-PapersOnLine
Congress (additional information):
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC)[7´th, 2021, Berlin]
Volume:
54.19 (2021)
Date of congress:
11.-13.10.2021
Publisher:
Elsevier
Date of publication:
19.11.2021
Year:
2021
Quarter:
4. Quartal
Year / month:
2021-11
Month:
Nov
Pages:
pp. 230-242
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1016/j.ifacol.2021.11.046
WWW:
https://doi.org/10.1016/j.ifacol.2021.11.046
TUM Institution:
Lehrstuhl für Regelungstechnik
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