ICRA 2011 Paper Abstract

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Paper TuA111.2

Christoforou, Eftychios (University of Cyprus), Damaren, Christopher (University of Toronto)

Application of Passivity-Based Techniques to the Control of Structurally Flexible Gantry Robots

Scheduled for presentation during the Regular Sessions "Flexible Arms/Robots" (TuA111), Tuesday, May 10, 2011, 08:35−08:50, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Flexible Arms, Motion Control of Manipulators

Abstract

The present work deals with the application of a class of passivity-based control schemes to the flexible gantry robots domain. These controllers, which also include an adaptive version, effectively exploit the passivity property satisfied by a suitably defined input and output for the system in conjunction with an approximate model of the payload-dominated dynamics. Simulations as well as hardware implementation on an experimental flexible gantry robot demonstrate the efficacy of the schemes, which combine end-point tracking of prescribed trajectories together with active vibrations suppression.

 

 

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