Trajectory control of flexible manipulators [chapter]

Alessandro De Luca
1998 Lecture notes in control and information sciences  
We present some feedback control techniques recently developed for the exact solution of trajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links. For robots with elastic joints, we introduce a generalized inversion algorithm for the synthesis of a
more » ... dynamic feedback control law that gives input-output decoupling and full state linearization. For robots with flexible links, the end-effector trajectory tracking problem is solved based on the iterative computation of the link deformations associated with the desired output motion, combined with a state trajectory regulator. For both robot models, the control design is performed directly on the second-order dynamic equations.
doi:10.1007/bfb0015078 fatcat:3kwycsehanfyxoifycvltaijqy