2022
DOI: 10.1109/access.2022.3144404
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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 corr… Show more

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Cited by 2 publications
(2 citation statements)
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“…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].…”
Section: Theoretical Configurationmentioning
confidence: 99%
“…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].…”
Section: Theoretical Configurationmentioning
confidence: 99%
“…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.…”
Section: Introductionmentioning
confidence: 99%