Modelling and control of flexible robot arms

摘要

This paper surveys modeling and control problems of flexible robot arm systems. The flexibilities of the robot arm system are divided into two categories, namely the flexibility due to the nonlinearity in the drive system and the flexibility due to the elasticity of the arms which has properties of distributed parameter system. For these two systems, various modeling methods and control laws are reviewed, along with a discussion of the effect of the sensor location.