Compensability of flexible arms.

Practical Models for Practical Flexible Arms

A laboratory robot with 3m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response results for joint motion, link deflection and tip deflection. We conclude that with care the models of an arm can be effective in controller design in spite of hydraulic act...

Inversion-Based Nonlinear Control of Robot Arms with Flexible Links

The design of inversion-based nonlinear control laws solving the problem of accurate trajectory tracking for robot arms having flexible links is considered. It is shown that smooth joint trajectories can always be exactly reproduced preserving internal stability of the closed-loop system. The interaction between the Lagrangian/assumed modes modeling approach and the complexity of the resulting ...

Recursive Lagrangian dynamics of flexible manipulator arms via transformation matrices

Shear force feedback control of flexible robot arms

For flexible robots with rotational joints it has been shown previously, by the first author, that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arising from structural flexibility of robots of Cartesian or SCARA types. Closed-loop exponent...

Sliding Mode Control Of Two Arms Manipulating a Flexible Beam

This paper develops a sliding mode control law to control two robotic arms handling a flexible beam that is modeled using B-spline approximation. Simulation results for two three joint arms moving a flexible beam are presented to validate the theoretical results.