Control of Flexible Link Manipulator

Ajish Babu

DFKI GmbH DFKI Documents (D) 14-03 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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence