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Control of Manipulators with Flexible Links and Kinematic Loops

Light-weight robotic manipulators offer advantages such as higher speed performance, higher payload-to-weight ratio, smaller actuators and lower energy consumption. Potential areas of their application include such specialized tasks as space-structure construction and satellite manoeuvring. However, the structural members of such robotic mechanical systems admit a higher level of flexibility, thus limiting significantly the bandwidth of the controlled system. Control algorithms for the supression of vibrations in robotic systems with kinematic loops are being developed. Tests on a simple four-bar linkage with very flexible links, provided with strain gauges for deformation sensing, show the effectiveness of our real-time control algorithms (see Fig. gif).

K.S. Cho, N. Hori, J. Angeles

Prototype four-bar flexible mechanisms

Thierry Baron
Mon Nov 13 10:43:02 EST 1995