This paper deals with the modeling and control of robotic manipulators with flexible link by means of singular perturbations techniques. For the sake of simplicity, only the simple case of a manipulator consisting of one flexible link rotating in the horizontal plane and clamped in a rigid base is considered. It can be shown by using perturbation methods that for a small perturbation parameter (proportional to the inverse of the square of the oscillation frequency of the first beam mode), the manipulator tends to a rigid one. We propose a control scheme based on the rigid model and taking into account the flexibility effect at the endpoint of the link. The results are illustrated by simulations.
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