USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK

Frédéric Colas, Eric Dumetz, Pierre-Jean Barre, Jean-Yves Dieulot

Abstract

A controller using acceleration feedback has been applied to a flexible robot for which the position and velocity of the load are not measured. It is shown by using the Causal Ordering Graph (COG), that the motor can be controlled by using acceleration feedback and that it allows an exact tracking of the motor position, irrespective of the non-linear flexibilities of the axis and of the measurement disturbances. This easy-to-tune algorithm, in which main control parameters are the modal masses of the motor and load part and only consists of a positive acceleration feedback plus a PD controller, has been validated on an industrial 3-axis robot.

References

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Paper Citation


in Harvard Style

Colas F., Dumetz E., Barre P. and Dieulot J. (2005). USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 25-31. DOI: 10.5220/0001171900250031


in Bibtex Style

@conference{icinco05,
author={Frédéric Colas and Eric Dumetz and Pierre-Jean Barre and Jean-Yves Dieulot},
title={USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={25-31},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001171900250031},
isbn={972-8865-29-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK
SN - 972-8865-29-5
AU - Colas F.
AU - Dumetz E.
AU - Barre P.
AU - Dieulot J.
PY - 2005
SP - 25
EP - 31
DO - 10.5220/0001171900250031