Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity

Abstract

The static deflection compensation method of a planar multi-link flexible manipulator is proposed using the feedback from inertial sensors mounted at the tip of each link. The proposed compensation technique is validated experimentally using a high-precision laser tracker. The proposed strategy is experimentally verified using a three-link flexible manipulator. A strategy to compensate for the centripetal and tangential acceleration induced on the accelerometer mounted on the rotating link is proposed for correct inclination estimation. The improvement in the inclination estimation using the proposed compensation technique is verified both in simulation and experimental studies.

Noncollocated Proprioceptive Sensing for Lightweight Flexible Robotic Manipulators

“…Accelerometers, on the other hand, can provide 'total' deformation information by measuring the acceleration at various points along the manipulator [14]. However, as it is well known, these sensors are also prone to noise and biases, complicating the extraction of position and velocity signals [15]. Finally, vision systems and range sensors can provide precise deflection measurements of both flexible link and flexible joint manipulators [16].…”

Investigating the Potential of Flexible Links for Increased Payload to Mass Ratios for Collaborative Robotics

“…Mansour et al considers vibration suppression for motion in the vertical plane, using visual data from a camera mounted on the end effector [32]. On the other hand, Subedi et al proposed a method to compensate the static deflection of a planar multilink flexible manipulator using the feedback from inertial measurement units [33]. Malzahn et al [34] compensates both effects by proposing a strain-based decentralized controller to damp out the structural vibrations in combination with a visual servoing controller as outer control loop to guarantee end effector tracking under gravity.…”