Sensor-based deflection modeling and compensation control of flexible robotic manipulator

摘要

A sensor-based technique is proposed for the modeling and control of the manipulator positioning errors caused by structural deflections of the flexible links. A laser-optical sensor system is specially designed for measuring the deflections ofeach flexible link, and the robot positioning inaccuracies are thus deduced through the link deflections measured and, finally, compensated for in real time by adjustment of the joint variables. The principle of measurement is described the sensor-basedmodeling and compensation algorithms of the robot positioning errors are presented, and the simulation results are given in the paper.