Control of Flexible Link Manipulator

Ajish Babu

DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 14-03, ISBN ISSN 0946-0098, Selbstverlag, Bremen, 6/2014.


Light-weight robot design have a certain degree of flexibility, which in turn introduces unwanted vibrations. This talk introduces different methods of vibration attenuation, combining feed-forward and feedback techniques. Feed-forward compensation based on Input Shaping and feedback control based on Strain gauges and Inertial Measurement Unit are used. The effectiveness of these controllers are studied using a two-link manipulator test setup.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz