A DAE approach to Feedforward Control of Flexible Manipulators

• A General Elastic Model Structure for Flexible Industrial Robot Structures

• A Feedforward Control Approach based on solution of DAE’s

• Simulation Example included

Stig Moberg Division of Automatic Control, Linköpings Universitet, Sweden

Sven HanssenDept. of Solid Mechanics, Royal Institute of Technology, Stockholm, Sweden

IRB6600ID from ABB Robotics