A Survey of Experiments for Modeling Verification and Control of Flexible Robotic Manipulators

Abstract

The task of model verification and control implementation for flexible multi-body systems undergoing large-angle displacement can probably be best accomplished using the experiments involved with large flexible multi-link manipulators. In this paper, various kinds of experiments for modeling and control for large flexible manipulators are reviewed. Although most experiments are restricted to either vertical or horizontal planes, and control algorithms are applied to simplified examples, insight gained in this survey will be useful to the advancement of the state-of-the-art for accurate modeling and precision control of flexible multibody manipulators.