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| author_facet |
Morlock, Merlin Burkhardt, Markus Seifried, Robert Morlock, Merlin Burkhardt, Markus Seifried, Robert |
|---|---|
| author |
Morlock, Merlin Burkhardt, Markus Seifried, Robert |
| spellingShingle |
Morlock, Merlin Burkhardt, Markus Seifried, Robert PAMM Control concepts for a parallel manipulator with flexible links General Medicine |
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morlock, merlin |
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Morlock, Merlin Burkhardt, Markus Seifried, Robert 1617-7061 1617-7061 Wiley General Medicine http://dx.doi.org/10.1002/pamm.201610398 <jats:title>Abstract</jats:title><jats:p>Light‐weight robots are advantageous considering the low energy consumption and the low material cost. However, in light‐weight structures significant oscillations can occur which make the control very challenging. Objective of this research is end‐effector trajectory tracking of a parallel manipulator with flexible links. Hereby, only the manipulator's drives are used, and no additional actuation on the flexible bodies is considered. For accurate trajectory tracking, feedforward control of the manipulator is used based on inverse dynamics and servo‐constraints, combined with feedback control of the drive positions. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)</jats:p> Control concepts for a parallel manipulator with flexible links PAMM |
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10.1002/pamm.201610398 |
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Wiley, 2016 |
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Wiley, 2016 |
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2016 |
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| title |
Control concepts for a parallel manipulator with flexible links |
| title_unstemmed |
Control concepts for a parallel manipulator with flexible links |
| title_full |
Control concepts for a parallel manipulator with flexible links |
| title_fullStr |
Control concepts for a parallel manipulator with flexible links |
| title_full_unstemmed |
Control concepts for a parallel manipulator with flexible links |
| title_short |
Control concepts for a parallel manipulator with flexible links |
| title_sort |
control concepts for a parallel manipulator with flexible links |
| topic |
General Medicine |
| url |
http://dx.doi.org/10.1002/pamm.201610398 |
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2016 |
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819-820 |
| description |
<jats:title>Abstract</jats:title><jats:p>Light‐weight robots are advantageous considering the low energy consumption and the low material cost. However, in light‐weight structures significant oscillations can occur which make the control very challenging. Objective of this research is end‐effector trajectory tracking of a parallel manipulator with flexible links. Hereby, only the manipulator's drives are used, and no additional actuation on the flexible bodies is considered. For accurate trajectory tracking, feedforward control of the manipulator is used based on inverse dynamics and servo‐constraints, combined with feedback control of the drive positions. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)</jats:p> |
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| author | Morlock, Merlin, Burkhardt, Markus, Seifried, Robert |
| author_facet | Morlock, Merlin, Burkhardt, Markus, Seifried, Robert, Morlock, Merlin, Burkhardt, Markus, Seifried, Robert |
| author_sort | morlock, merlin |
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| description | <jats:title>Abstract</jats:title><jats:p>Light‐weight robots are advantageous considering the low energy consumption and the low material cost. However, in light‐weight structures significant oscillations can occur which make the control very challenging. Objective of this research is end‐effector trajectory tracking of a parallel manipulator with flexible links. Hereby, only the manipulator's drives are used, and no additional actuation on the flexible bodies is considered. For accurate trajectory tracking, feedforward control of the manipulator is used based on inverse dynamics and servo‐constraints, combined with feedback control of the drive positions. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)</jats:p> |
| doi_str_mv | 10.1002/pamm.201610398 |
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| id | ai-49-aHR0cDovL2R4LmRvaS5vcmcvMTAuMTAwMi9wYW1tLjIwMTYxMDM5OA |
| imprint | Wiley, 2016 |
| imprint_str_mv | Wiley, 2016 |
| institution | DE-D275, DE-Bn3, DE-Brt1, DE-Zwi2, DE-D161, DE-Gla1, DE-Zi4, DE-15, DE-Pl11, DE-Rs1, DE-105, DE-14, DE-Ch1, DE-L229 |
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| publishDate | 2016 |
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| source_id | 49 |
| spelling | Morlock, Merlin Burkhardt, Markus Seifried, Robert 1617-7061 1617-7061 Wiley General Medicine http://dx.doi.org/10.1002/pamm.201610398 <jats:title>Abstract</jats:title><jats:p>Light‐weight robots are advantageous considering the low energy consumption and the low material cost. However, in light‐weight structures significant oscillations can occur which make the control very challenging. Objective of this research is end‐effector trajectory tracking of a parallel manipulator with flexible links. Hereby, only the manipulator's drives are used, and no additional actuation on the flexible bodies is considered. For accurate trajectory tracking, feedforward control of the manipulator is used based on inverse dynamics and servo‐constraints, combined with feedback control of the drive positions. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)</jats:p> Control concepts for a parallel manipulator with flexible links PAMM |
| spellingShingle | Morlock, Merlin, Burkhardt, Markus, Seifried, Robert, PAMM, Control concepts for a parallel manipulator with flexible links, General Medicine |
| title | Control concepts for a parallel manipulator with flexible links |
| title_full | Control concepts for a parallel manipulator with flexible links |
| title_fullStr | Control concepts for a parallel manipulator with flexible links |
| title_full_unstemmed | Control concepts for a parallel manipulator with flexible links |
| title_short | Control concepts for a parallel manipulator with flexible links |
| title_sort | control concepts for a parallel manipulator with flexible links |
| title_unstemmed | Control concepts for a parallel manipulator with flexible links |
| topic | General Medicine |
| url | http://dx.doi.org/10.1002/pamm.201610398 |