Article : texte imprimé

Active position and vibration control of a flexible links mechanism using model-based predictive control

Paolo Boscariol, Auteur ; Gasparetto, Alessandro, Auteur ; Vanni Zanotto, Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 132 N° 1, Janvier/Fevrier 2010)

In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high-sp[...]

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