Contribution

Elastic Structure Preserving Control for a Structurally Elastic Robot

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Abstract

Elastic lightweight manipulators offer multiple benefits but come at the cost of increased structural flexibility, making the system more susceptible to vibrations. These circumstances require control concepts with a special Focus on vibration suppression. Based on an lumped element model formulation, a control method called elastic structure preserving control is used for additional damping injection, while using standard motor PD control, to ensure low tracking error of the flexible link robot’s end effector. As a first proof of concept for the used structural elastic robot the method is only applied for the first degree of freedom. The results obtained are further compared to a flatness-based control Approach utilizing exact feed forward linearization and full state feedback control. Both methods are tested using cost-effective IMU measurements for feedback control, in addition to the motor measurements. The outcome demonstrates that, based on the evaluated angular accelerations, both methods achieve comparatively effective vibration damping relative to Standard motor PD control.

Keywords: elastic structure preserving control, flatness-based control, elastic robot, lumped element model

How to Cite:

Kitzinger, A., Gattringer, H. & Müller, A., (2025) “Elastic Structure Preserving Control for a Structurally Elastic Robot”, ARW Proceedings 25(1), 119-120. doi: https://doi.org/10.34749/3061-0710.2025.21