End-Point Control of a Two-Link Flexible Robotic Manipulator with a Mini-Manipulator: Initial Experiments

Abstract

This research focuses on achieving quick and precise position control within a localized workspace at the tip of an extremely flexible two-link manipulator. A control strategy has been developed whih utilizes direct end-point sensing and a quick wrist, or mini-manipulator, mounted at the tip of the flexible manipulator. The mini-manipulator provides high-bandwidth actuation in the localised workspace, and end-point sensing allows for direct control of the minimanipulator end-point. Experimental results and issues as sociated with the implementation of the controller on the mini-manipulator mounted at the tip of the extremely flexible Stanford Multi-Link Flexible Manipulator are presented in this paper.