IEEE - Institute of Electrical and Electronics Engineers, Inc. - Control of robots with elastic joints based on automatic generation of inverse dynamics models

Proceedings of RSJ/IEEE International Conference on Intelligent Robots and Systems

Author(s): M. Thummel ; M. Otter ; J. Bals
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2001
Conference Location: Maui, HI, USA, USA
Conference Date: 29 October 2001
Volume: 2
Page Count: 6
ISBN (Paper): 0-7803-6612-3
DOI: 10.1109/IROS.2001.976287
Regular:

The paper shows how the tool vibrations of elastic joint robots can be reduced significantly by feedforward control based on inverse dynamics models. The key ideas are: (1) to use available... View More

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