A vibration damped flexible robot: identification and parameter optimization

摘要

Robots designed for very wide operating ranges or for heavy loads require taking the elastic deformations of the links into account. A model independent approach for damping the vibrations of flexible robots is the control concept of the virtual spring-damper, in which the actuators are controlled to act like spring-damper systems. With an identified substitution model for a flexible link it is possible to obtain an optimum parameter configuration of the spring-damper element so that the system's response is fast and no vibrations at the end effector occur. The optimization of these parameters follows by the exploration of the eigenvalues of the substitution model. Finally, experimental results are realized on a real flexible robot in the laboratory. The results are compared to a conventional P-controller.