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A DAE approach to Feedforward Control of Flexible Manipulators PowerPoint Presentation
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A DAE approach to Feedforward Control of Flexible Manipulators

A DAE approach to Feedforward Control of Flexible Manipulators

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A DAE approach to Feedforward Control of Flexible Manipulators

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  1. A DAE approach to Feedforward Control of Flexible Manipulators Stig Moberg Division of Automatic Control, Linköpings Universitet, SwedenSven Hanssen Dept. of Solid Mechanics, Royal Institute of Technology, Stockholm, Sweden • A General Elastic Model Structure for Flexible Industrial Robot Structures • A Feedforward Control Approach based on solution of DAE’s • Simulation Example included IRB6600ID from ABB Robotics