on modeling and control of flexible manipulators[b]

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1、Linköpingstudiesinscienceandtechnology.Thesis.No.1336OnModelingandControlofFlexibleManipulatorsStigMobergGLERTEKNIKREAULTOOMATICCONTRLINKÖPINGDivisionofAutomaticControlDepartmentofElectricalEngineeringLinköpingUniversity,SE-58183Linköping,Swedenhttp://www.control.isy.liu.sestig@isy.liu.seL

2、inköping2007ThisisaSwedishLicentiate’sThesis.SwedishpostgraduateeducationleadstoaDoctor’sdegreeand/oraLicentiate’sdegree.ADoctor’sDegreecomprises240ECTScredits(4yearsoffull-timestudies).ALicentiate’sdegreecomprises120ECTScredits,ofwhichatleast60ECTScreditsconstituteaLicentiate’sthesis.Link

3、öpingstudiesinscienceandtechnology.Thesis.No.1336OnModelingandControlofFlexibleManipulatorsStigMobergstig@isy.liu.sewww.control.isy.liu.seDepartmentofElectricalEngineeringLinköpingUniversitySE-58183LinköpingSwedenISBN978-91-85895-29-8ISSN0280-7971LiU-TEK-LIC-2007:45Copyright©2007StigMoberg

4、PrintedbyLiU-Tryck,Linköping,Sweden2007ToKarinandJohnAbstractIndustrialrobotmanipulatorsaregeneral-purposemachinesusedforindustrialautoma-tioninordertoincreaseproductivity,flexibility,andquality.Otherreasonsforusingindustrialrobotsarecostsaving,andeliminationofheavyandhealth-hazardouswork.R

5、obotmotioncontrolisakeycompetenceforrobotmanufacturers,andthecurrentdevel-opmentisfocusedonincreasingtherobotperformance,reducingtherobotcost,improv-ingsafety,andintroducingnewfunctionalities.Therefore,thereisaneedtocontinuouslyimprovethemodelsandcontrolmethodsinordertofulfilallconflictingre

6、quirements,suchasincreasedperformanceforarobotwithlowerweight,andthuslowermechanicalstiffnessandmorecomplicatedvibrationmodes.Onereasonforthisdevelopmentoftherobotmechanicalstructureisofcoursecost-reduction,butotherbenefitsarelowerpowerconsumption,improveddexterity,safetyissues,andlowenviro

7、nmentalimpact.Thisthesisdealswiththreedifferentaspectsofmodelingandcontrolofflexible,i.e.,elastic,manipulators.Foranaccuratedescriptionofamodernindustrialmanipulator,thetraditionalflexiblejointmodel,describedinliterature,isnotsufficient.Animprovedmodelwheretheela