Modeling, Design and Control of Flexible Manipulator Arrns: A Tutorial Review

The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. This paper first examines the mathematical representations commonly used in modeling flexible arms and arms with flexible drives. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed. MODELING FLEXIBLE ~ Models are used for simulation, analysis, and synthesis. In robotics, models may be used directly in the control algorithm with the computed torque technique. We will first look at the representatio