Closed Loop Shaped-Input Strategies for Flexible Robots

Abstract

In this article, a composite control strategy is examined for a large class of multi-link manipulators with one flexible link. The controller design is based on the use of a conven tional rigid body robot controller and the use of a closed loop shaped-input filter to reduce the nonlinear vibrations of the flexible link. This method has the ability to reject external dis turbances. Simulation results confirm the effectiveness of this design strategy. Experimental results for a single flexible link and a five-bar-linkage manipulator with a single flexible link are presented.