Solving the inverse dynamics of a flexible 3D robot for a trajectory tracking task

Lismonde, Arthur; Sonneville, Valentin; Bruls, Olivier

doi:10.1109/MMAR.2016.7575132

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Solving the inverse dynamics of a flexible 3D robot for a trajectory tracking task

Lismonde, Arthur; Sonneville, Valentin; Bruls, Olivier

2016 • In Proceedings of the 21th International Conference on Methods and Models in Automation and Robotics (MMAR)

Peer reviewed

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https://hdl.handle.net/2268/200795

DOI
10.1109/MMAR.2016.7575132

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Keywords :

Inverse dynamics; Flexible robot; optimal control

Abstract :

[en] The end-effector trajectory tracking of robotic manipulators with flexible links requires advanced control concepts. In order to compute the feedforward component of the control scheme, the inverse dynamics of such flexible 3D multibody system is solved using an optimal control method. The robot is modeled using nonlinear finite elements formulated on the SE(3) group. Hence singularity and parameterization issues that can arise from 3D rotations are avoided. A numerical example of a 3D flexible arm is analyzed to demonstrate the capabilities of the method.

Disciplines :

Mechanical engineering

Author, co-author :

Lismonde, Arthur ; Université de Liège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Sonneville, Valentin; University of Maryland

Bruls, Olivier ; Université de Liège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Language :

English

Title :

Solving the inverse dynamics of a flexible 3D robot for a trajectory tracking task

Publication date :

2016

Event name :

21st International Conference on Methods and Models in Automation and Robotics

Event date :

du 29 aout 2016 au 1 septembre 2016

Audience :

International

Main work title :

Proceedings of the 21th International Conference on Methods and Models in Automation and Robotics (MMAR)

Peer reviewed :

Peer reviewed

Available on ORBi :

since 05 August 2016

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