The Control of an Elastic Manipulation Device using DSP

Abstract

In fast robots with conventional control, the elasticities of gears and robot arms frequently result in disturbing vibrations around the desired tracks. These vibrations can only be counteracted by means of a precise system description and a tailored control concept. Starting with a specially constructed three-joint elastic articulated robot, computer support is used to * set up the nonlinear equations of motion, * identify the system parameters, * optimize a controller structure designed for the overall system and to * implement the controller with fast DSP hardware. Experimental tests with the designed control show considerable improvements on conventional approaches when fast tracking is considered.